Mountain fire alarm method and device based on multi-source data fusion, terminal equipment and storage medium

Abstract

The invention discloses a multi-source data fusion forest fire alarm method and device, terminal equipment and a storage medium, and relates to the technical field of forest fire alarms, the method comprises the following steps: obtaining any hotspot alarm information of a monitored area in a current time period; if the information source is a satellite, performing information integration according to the first monitoring information to obtain a first mountain fire estimation coordinate and a first mountain fire alarm confidence coefficient; if the information source is not the satellite, performing information integration according to the second monitoring information to obtain a first mountain fire estimation coordinate and a first mountain fire alarm confidence coefficient; and then whether the callable unmanned aerial vehicle exists in the monitored area within the current time period is judged, and the final mountain fire position and the confidence coefficient are determined according to the judgment result, the first mountain fire estimation coordinate and the first mountain fire alarm confidence coefficient. According to the invention, the problems of low fire monitoring efficiency and large waste of manpower caused by manual patrol in the prior art can be solved.

Description

Technical Field

[0001] The present invention relates to the field of wildfire alarm technology, and in particular to a wildfire alarm method, device, terminal equipment and storage medium for multi-source data fusion. Background Art

[0002] Transmission corridors are crucial power transmission channels, directly impacting the safe and stable supply of electricity. Under the influence of extreme natural factors, forests and grasslands surrounding transmission corridors are prone to fires. Failure to promptly monitor and address fires not only threatens the safe supply of electricity, but also damages the natural environment and impacts human life.

[0003] Traditional wildfire monitoring methods rely primarily on manual inspections. While this method can detect fires and prevent their spread to a certain extent, it is relatively inefficient and wastes significant manpower and material resources. Therefore, existing technologies suffer from the inefficiency of manual inspections for fire monitoring and the resulting significant waste of manpower. Summary of the Invention

[0004] The present invention provides a multi-source data fusion wildfire alarm method, device, terminal equipment and storage medium, which can solve the problem in the prior art that fire monitoring using manual inspections is inefficient and causes a large waste of manpower.

[0005] An embodiment of the present invention provides a wildfire alarm method based on multi-source data fusion, comprising:

[0006] Obtaining any hotspot alarm information in the monitored area during the current period; wherein the hotspot alarm information includes: information source and alarm coordinates;

[0007] If the information source is a satellite, obtaining first monitoring information of all satellites monitoring the monitored area during the current time period, and integrating information based on the first monitoring information to obtain first estimated wildfire coordinates and a first wildfire alarm confidence level indicating the presence of a wildfire at the first estimated wildfire coordinates;

[0008] If the information source is not a satellite, obtaining second monitoring information monitored by the ground monitoring point during the current time period, and integrating the second monitoring information and the warning coordinates to obtain the first wildfire estimated coordinates and the first wildfire warning confidence level;

[0009] Determine whether there is a callable drone in the monitored area within the current time period, and obtain a first determination result;

[0010] Based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire alarm confidence, the wildfire location in the monitored area and the confidence level of the existence of the wildfire at the wildfire location are determined, and a wildfire warning is issued based on the wildfire location and the confidence level.

[0011] Furthermore, acquiring monitoring information of all satellites monitoring the monitored area during the current time period, and integrating the information based on the first monitoring information to obtain a first wildfire estimated coordinate and a first wildfire alarm confidence level indicating the presence of a wildfire at the first wildfire estimated coordinate includes:

[0012] Determining, according to a current time period, the number of satellites monitoring the monitored area within the current time period;

[0013] When the number of satellites exceeds a preset satellite number threshold, determining, based on the monitoring information, whether all satellites monitoring the monitored area have detected a wildfire within a current time period, thereby obtaining a second determination result;

[0014] Determining the estimated coordinates of the first satellite and the corresponding first satellite wildfire warning confidence level according to the second judgment result;

[0015] When the number of satellites does not exceed a preset satellite number threshold, obtaining a third satellite wildfire warning position of a satellite monitoring the monitored area within a current time period, and a third satellite warning confidence corresponding to the third satellite wildfire warning position;

[0016] Determining the estimated coordinates of the first satellite based on the third satellite wildfire warning position, and determining the first satellite wildfire warning confidence based on the third satellite warning confidence;

[0017] Determine whether there is a ground monitoring point monitoring the monitored area within the current time period, and obtain a third determination result;

[0018] The first wildfire estimated coordinates and the first wildfire alarm confidence are determined according to the third judgment result, the first satellite estimated coordinates and the first satellite wildfire alarm confidence.

[0019] Furthermore, determining the estimated coordinates of the first satellite and the corresponding first satellite wildfire warning confidence level according to the second judgment result includes:

[0020] If the second judgment result is that at least one satellite has not detected the wildfire, obtaining a first satellite that has detected the wildfire and a second satellite that has not detected the wildfire from all satellites monitoring the monitored area in the current time period;

[0021] Obtaining a first satellite wildfire warning position monitored by the first satellite, a first satellite warning confidence corresponding to each first satellite wildfire warning position, and a first satellite missed warning confidence of the second satellite;

[0022] Calculating a first satellite wildfire warning confidence level according to the first satellite warning confidence level and the first satellite missed warning confidence level;

[0023] Calculate the estimated coordinates of the first satellite according to the first satellite wildfire warning position and the first satellite warning confidence;

[0024] If the second judgment result is that all satellites have detected the wildfire, obtaining the second satellite wildfire warning positions of all satellites and the second satellite warning confidence corresponding to each second wildfire warning position;

[0025] Calculate the estimated coordinates of the first satellite according to the second satellite wildfire warning position and the second satellite warning confidence;

[0026] The first satellite wildfire warning confidence level is calculated based on the second satellite warning confidence level.

[0027] Further, determining the first wildfire estimated coordinates and the first wildfire warning confidence based on the third judgment result, the first satellite estimated coordinates, and the first satellite wildfire warning confidence includes:

[0028] If the third judgment result is that there are ground monitoring points, and at least one of the ground monitoring points does not detect the wildfire;

[0029] Obtaining, within a current time period, a first ground wildfire alarm position of a first ground monitoring point that detects a wildfire, a first ground alarm confidence corresponding to the first ground wildfire alarm position, and a first ground missed alarm confidence of a second ground monitoring point that detects no wildfire;

[0030] Calculating the first wildfire warning confidence level according to the first satellite wildfire warning confidence level, the first ground warning confidence level, and the first ground missed warning confidence level;

[0031] Calculating the first wildfire estimated coordinates according to the first ground wildfire warning location, the first satellite estimated coordinates, the first ground missed warning confidence level, the first satellite wildfire warning confidence level, and the first ground warning confidence level;

[0032] If the third judgment result is that there are ground monitoring points, and all ground monitoring points have detected a wildfire;

[0033] Then, the second ground wildfire alarm positions of all ground monitoring points and the second ground alarm confidences corresponding to the second ground wildfire alarm positions are obtained;

[0034] Calculating the first wildfire warning confidence level according to the first satellite wildfire warning confidence level and the second ground warning confidence level;

[0035] Calculating the first wildfire estimated coordinates according to the first satellite wildfire warning confidence, the second ground warning confidence, the first satellite estimated coordinates, and the second ground wildfire warning position;

[0036] If the third judgment result is that there is no ground monitoring point, the first satellite estimated coordinates are used as the first wildfire estimated coordinates, and the first satellite wildfire warning confidence is used as the first wildfire warning confidence.

[0037] Furthermore, the step of integrating the second monitoring information and the warning coordinates to obtain the first wildfire estimated coordinates and the first wildfire warning confidence level includes:

[0038] Determining whether all ground monitoring points in the monitored area have detected wildfires during the current time period;

[0039] If at least one ground monitoring point does not detect a wildfire, extracting from all the second monitoring information the third ground wildfire alarm position of the third ground monitoring point that detected a wildfire, the third ground alarm confidence corresponding to the third ground wildfire alarm position, and the second ground missed alarm confidence of the fourth ground monitoring point that detected no wildfire;

[0040] Calculating a first ground wildfire alarm confidence level according to the second ground missed alarm confidence level and the third ground alarm confidence level;

[0041] Calculating a first ground estimated coordinate according to the third ground alarm confidence, the third ground wildfire alarm position, and the second ground missed alarm confidence;

[0042] If all ground monitoring points in the monitored area detect wildfires, the fourth ground wildfire alarm positions of all ground monitoring points in the second monitoring information and the corresponding fourth ground alarm confidences are used;

[0043] Calculating the first ground wildfire alarm confidence level according to the fourth ground wildfire alarm position and the fourth ground alarm confidence level;

[0044] Calculating the first ground estimated coordinates according to the fourth ground alarm confidence level;

[0045] Determining whether the warning coordinates are a satellite monitoring blind area to obtain a fifth determination result;

[0046] The first wildfire estimated coordinates and the first wildfire alarm confidence are determined according to the fifth judgment result, the first ground estimated coordinates and the first ground wildfire alarm confidence.

[0047] Furthermore, determining the first wildfire estimated coordinates and the first wildfire alarm confidence level according to the fifth judgment result, the first ground estimated coordinates, and the first ground wildfire alarm confidence level includes:

[0048] If the fifth judgment result is that the warning coordinate is a satellite monitoring blind spot, then using the first ground estimated coordinate as the first wildfire estimated coordinate, and using the first ground wildfire warning confidence as the first wildfire warning confidence;

[0049] Otherwise, obtaining the second satellite missed reporting confidences of all satellites in the monitored area within the current time period;

[0050] Calculating the first wildfire warning confidence level according to the first ground wildfire warning confidence level and the second satellite missed warning confidence level;

[0051] The first estimated ground coordinates are used as the first estimated wildfire coordinates.

[0052] Furthermore, determining the location of the wildfire in the monitored area and the confidence level of the existence of the wildfire at the location of the wildfire based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire warning confidence level includes:

[0053] If the first judgment result is that there is no available drone, then using the first estimated wildfire coordinates as the wildfire location, and using the first wildfire warning confidence as the confidence level of the existence of a wildfire at the wildfire location;

[0054] If the first determination result is that a callable drone exists, and if the first wildfire alarm confidence level is not within a preset wildfire alarm threshold, the first wildfire estimated coordinates are used as the wildfire location, and the first wildfire alarm confidence level is used as the confidence level for the existence of a wildfire at the wildfire location.

[0055] If the first judgment result is that a callable drone exists, and if the first wildfire alarm confidence level is within a preset wildfire alarm threshold, obtaining a drone alarm confidence level obtained by monitoring the callable drone at the first estimated wildfire coordinates;

[0056] using the first wildfire estimated coordinates as the wildfire location;

[0057] The confidence level of the existence of a wildfire at the wildfire location is calculated based on the UAV warning confidence level and the first wildfire warning confidence level.

[0058] Based on the above method embodiment, the present invention provides a corresponding device embodiment;

[0059] The present invention provides a multi-source data fusion wildfire warning device, comprising:

[0060] Alarm information acquisition module, satellite information integration module, ground monitoring information integration module, drone judgment module and wildfire determination module;

[0061] The alarm information acquisition module is used to obtain the alarm information of any hotspot in the monitored area within the current period; wherein the hotspot alarm information includes: information source and alarm coordinates;

[0062] The satellite information integration module is configured to, when the information source is a satellite, obtain first monitoring information of all satellites monitoring the monitored area during a current time period, and integrate the first monitoring information to obtain first estimated wildfire coordinates and a first wildfire alarm confidence level indicating the presence of a wildfire at the first estimated wildfire coordinates;

[0063] The ground monitoring information integration module is configured to, when the information source is not a satellite, obtain second monitoring information monitored by the ground monitoring point within the current time period, and integrate the second monitoring information and the alarm coordinates to obtain the first wildfire estimated coordinates and the first wildfire alarm confidence level;

[0064] The drone determination module is configured to determine whether there are any available drones in the monitored area within a current period, and obtain a first determination result;

[0065] The wildfire determination module is used to determine the wildfire location in the monitored area and the confidence level of the existence of a wildfire at the wildfire location based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire alarm confidence level, and to issue a wildfire alarm based on the wildfire location and the confidence level.

[0066] Based on the above method embodiment, the present invention provides a corresponding terminal device embodiment;

[0067] The present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the multi-source data fusion forest fire alarm method described in any embodiment of the present invention.

[0068] Based on the above method embodiment, the present invention provides a storage medium embodiment;

[0069] The present invention provides a storage medium comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, the multi-source data fusion wildfire alarm method described in any embodiment of the present invention is implemented.

[0070] The embodiments of the present invention have the following beneficial effects:

[0071] The present invention provides a multi-source data fusion wildfire alarm method, device, terminal device and storage medium, the method comprising: obtaining any hotspot alarm information of a monitored area within a current time period; wherein the hotspot alarm information includes: information source and alarm coordinates; then, if the information source is a satellite, obtaining first monitoring information of all satellites monitoring the monitored area within the current time period, and performing information integration based on the first monitoring information to obtain first wildfire estimated coordinates and first wildfire alarm confidence that a wildfire exists at the first wildfire estimated coordinates; if the information source is not a satellite, then Acquire the second monitoring information monitored by the ground monitoring point during the current time period, and integrate the information based on the second monitoring information and the alarm coordinates to obtain the first wildfire estimated coordinates and the first wildfire alarm confidence; determine whether there is a callable drone in the monitored area during the current time period to obtain a first judgment result; finally, determine the wildfire location in the monitored area and the confidence level of the existence of a wildfire at the wildfire location based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire alarm confidence, and issue a wildfire warning based on the wildfire location and the confidence level. Therefore, the present invention combines the relevant alarm data obtained by satellites, ground monitoring points, and drones to perform data analysis and integration to determine the final wildfire location and the corresponding confidence level. The entire process does not require manual inspections of the monitoring area, which greatly reduces the waste of manpower and low monitoring efficiency caused by manual inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0073] Figure 1 The figure is a flowchart of a wildfire alarm method based on multi-source data fusion provided by one embodiment of the present invention.

[0074] Figure 2 This is a schematic diagram of monitoring time of multiple-source satellites provided by an embodiment of the present invention.

[0075] Figure 3 The figure is a schematic structural diagram of a multi-source data fusion wildfire alarm device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0076] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0077] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0078] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0079] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0080] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0081] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0082] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0083] See also Figure 1 In order to solve the problem of low efficiency and waste of manpower in fire monitoring by manual inspection in the prior art, an embodiment of the present invention provides a wildfire alarm method based on multi-source data fusion, comprising:

[0084] Step S101: Obtaining any hotspot alarm information in the monitored area within the current time period; wherein the hotspot alarm information includes: information source and alarm coordinates;

[0085] Specifically, the above information sources include satellites and ground monitoring points, and the above warning coordinates are the coordinates where the wildfire is suspected to have occurred.

[0086] Step S102: If the information source is a satellite, first monitoring information of all satellites monitoring the monitored area during the current time period is obtained, and information is integrated based on the first monitoring information to obtain first estimated wildfire coordinates and a first wildfire alarm confidence level indicating the presence of a wildfire at the first estimated wildfire coordinates.

[0087] Specifically, since satellites and ground monitoring points are performing monitoring work at the same time, it is necessary to distinguish whether the currently acquired hotspot alarm information comes from satellites or ground monitoring points.

[0088] In a preferred embodiment, the acquiring of monitoring information of all satellites monitoring the monitored area during the current time period, and integrating the information based on the first monitoring information to obtain first estimated wildfire coordinates and a first wildfire alarm confidence level indicating the presence of a wildfire at the first estimated wildfire coordinates, includes:

[0089] Determining, according to a current time period, the number of satellites monitoring the monitored area within the current time period;

[0090] Schematically, the monitoring time diagram of multiple satellites is as follows: Figure 2 As shown in the figure, there are multiple satellites monitoring the earth's surface at the same time. However, due to the different types and operation modes of satellites, the satellites that can monitor the above-mentioned monitored areas are different at different times. Figure 2In the period from 0:00 to 3:00, NPP, AQUA, GK-2, Himawari-8 and FY4 satellites can monitor the above-mentioned monitored areas, while other satellites such as TERRA cannot monitor the above-mentioned monitored areas. Figure 2 The satellite parameter tables are shown in the following table:

[0091]

[0092]

[0093] Indicative, Figure 2 The confidence level of fire point identification accuracy of geostationary meteorological satellites is shown in the following table:

[0094] geostationary satellite Alarm accuracy Missed alarm rate Positioning accuracy Himawari-8 70.1％ 13.5％ 61.5％ GK-2A 64.4％ 22.8％ 30.5％ FY-4 67.25％ 42.5％ 46.0％

[0095] Indicative, Figure 2 The accuracy of fire point identification by polar-orbiting satellites is shown in the following table:

[0096]

[0097] When the number of satellites exceeds a preset satellite number threshold, determining, based on the monitoring information, whether all satellites monitoring the monitored area have detected a wildfire within a current time period, thereby obtaining a second determination result;

[0098] Determining the estimated coordinates of the first satellite and the corresponding first satellite wildfire warning confidence level according to the second judgment result;

[0099] Specifically, the above-mentioned preset satellite number threshold is set to 1, that is, if the number of satellites monitoring the monitored area during the current period exceeds 1, since the above-mentioned hotspot alarm information comes from a single satellite, it is necessary to further determine whether the remaining satellites have also monitored this wildfire.

[0100] Specifically, when multiple satellites are monitoring, it is necessary to integrate the confidence of multi-source monitoring information. The integration rule is: based on the warning accuracy and positioning accuracy of different satellites, the real-time warning results are integrated using the Dempster-Shafer (DS) evidence theory. In DS evidence theory, two basic concepts are the basic belief unit (BPA) and the synthesis rule. The BPA refers to the belief distribution of each satellite warning result, reflecting its judgment on a specific location and its confidence. The synthesis rule is used to fuse the BPAs of multiple evidence sources into a more comprehensive result.

[0101] Specifically, each satellite has its corresponding warning accuracy and positioning accuracy, that is, the satellite's warning accuracy, missed warning rate, and spatial accuracy. If the satellite issues a wildfire warning, the warning position is (X a ,Y a ), then the confidence level for a wildfire event is the aforementioned warning accuracy rate, the confidence level for no wildfire event is 1 minus the aforementioned warning accuracy rate, and the confidence level for a wildfire event at position (Xa, Ya) is the aforementioned spatial accuracy rate, while the confidence level for a wildfire event at other possible locations is 1 minus the aforementioned spatial accuracy rate. On the other hand, if the satellite does not issue a wildfire warning, the confidence level for a wildfire event is the aforementioned missed warning rate, and the confidence level for no wildfire event is 1 minus the aforementioned missed warning rate.

[0102] Then, the conflict between each BPA is calculated (i.e., the part where their beliefs do not overlap). If the conflict between two BPAs is 0, they can be fused. If the conflict is not 0, they need to be normalized and then synthesized into beliefs. Schematically, if there are n alarm decisions that need to be fused (i.e., there are currently n wildfire alarm locations and corresponding n alarm confidences), the alarm confidences of the corresponding conflicting BPAs are a1,…a i ,…a n , the fire alarm locations are (X1, Y1)...(X i ,Y i )……(X n ,Y n ), the fused alarm confidence T and estimated coordinates L are calculated as follows:

[0103]

[0104] Where T represents the alarm confidence, n represents the number of alarm decisions, and a i represents the confidence of the ith alarm, K represents the conflict degree of all BPAs that need to be fused, (X i ,Y i ) represents the wildfire alarm location corresponding to the i-th alarm confidence level.

[0105] When the number of satellites does not exceed a preset satellite number threshold, obtaining a third satellite wildfire warning position of a satellite monitoring the monitored area within a current time period, and a third satellite warning confidence corresponding to the third satellite wildfire warning position;

[0106] Determining the estimated coordinates of the first satellite based on the third satellite wildfire warning position, and determining the first satellite wildfire warning confidence based on the third satellite warning confidence;

[0107] Specifically, when the number of satellites is 1, it can be determined that the above-mentioned hotspot alarm information is obtained by this satellite. Therefore, the third satellite wildfire alarm position monitored by this satellite and the corresponding third WeChat alarm confidence can be directly used as the above-mentioned first satellite estimated coordinates and the first satellite wildfire alarm confidence, respectively.

[0108] Determine whether there is a ground monitoring point monitoring the monitored area within the current time period, and obtain a third determination result;

[0109] The first wildfire estimated coordinates and the first wildfire alarm confidence are determined according to the third judgment result, the first satellite estimated coordinates and the first satellite wildfire alarm confidence.

[0110] In this preferred embodiment, by integrating the monitoring information, a first wildfire estimated coordinate and a first wildfire warning confidence level indicating the existence of a wildfire at the first wildfire estimated coordinate are obtained.

[0111] In another preferred embodiment, determining the estimated coordinates of the first satellite and the corresponding first satellite wildfire warning confidence level according to the second judgment result includes:

[0112] If the second judgment result is that at least one satellite has not detected the wildfire, obtaining a first satellite that has detected the wildfire and a second satellite that has not detected the wildfire from all satellites monitoring the monitored area in the current time period;

[0113] Obtaining a first satellite wildfire warning position monitored by the first satellite, a first satellite warning confidence corresponding to each first satellite wildfire warning position, and a first satellite missed warning confidence of the second satellite;

[0114] For example, if there are two satellites of the same origin, Himawari-8 and GK-2A, in the current period, and the former detects fire information and issues an alarm, while the latter does not detect fire information and misses the alarm, the GK-2A satellite is the second satellite mentioned above, and its first satellite missed alarm confidence is obtained. Since it did not detect the wildfire, there is no corresponding first WeChat wildfire alarm position. The Himawari-8 satellite is the first satellite mentioned above, and its first satellite alarm confidence and corresponding first satellite wildfire alarm position can be obtained. The confidence of each satellite's independent monitoring is shown in the following table:

[0115] Assumptions Himawari-8 GK-2A There are wildfires <![CDATA[A1=70.1%]]> <![CDATA[B3=22.8%]]> No wildfires <![CDATA[B1=29.9%]]> <![CDATA[A3=77.2%]]>

[0116] In the above table, A1 represents the confidence level of the first satellite warning of the Himawari-8 satellite, B1 represents the false alarm rate of the Himawari-8 satellite, B3 represents the false alarm rate of the GK-2A satellite, and A3 represents the confidence level of the first satellite missed warning of the GK-2A satellite.

[0117] Calculating a first satellite wildfire warning confidence level according to the first satellite warning confidence level and the first satellite missed warning confidence level;

[0118] Illustratively, based on the above example and in combination with the calculation formula of the fused warning confidence T and the estimated coordinate L, and because the presence and absence of wildfires conflict with each other, the first satellite wildfire warning confidence can be calculated according to the following formula:

[0119] T1=(A1×B3) / (1-(B1×B3+A1×A3))=40.91%

[0120] Where T1 represents the confidence level of the first satellite wildfire warning.

[0121] Calculate the estimated coordinates of the first satellite according to the first satellite wildfire warning position and the first satellite warning confidence;

[0122] Specifically, if there are more than two first satellites, the satellite wildfire warning positions of these first satellites can be calculated according to the calculation formula of the fused estimated coordinates L. Since the second satellite did not detect the wildfire, there is no need to fuse the relevant position parameters of the second satellite. The satellite wildfire warning positions obtained after the fusion of the first satellites can be directly used as the above-mentioned first satellite estimated coordinates (for an example of the fusion calculation process, refer to the calculation method corresponding to the first satellite estimated coordinates below). Schematically, in the above example, since there are only two satellites and only one satellite detected the wildfire and issued an alarm, it is only necessary to use the first satellite wildfire warning position of the Himawari-8 satellite as the above-mentioned first satellite estimated coordinates.

[0123] If the second judgment result is that all satellites have detected the wildfire, obtaining the second satellite wildfire warning positions of all satellites and the second satellite warning confidence corresponding to each second wildfire warning position;

[0124] For example, assume that in the current time period, there are two satellites of the same origin, Himawari-8 and GK-2A, which simultaneously detect fire information and issue warnings. Therefore, it is necessary to obtain their second satellite wildfire warning positions and the corresponding second satellite warning confidences. The second satellite wildfire warning positions are (105.79E, 24.69N) and (105.79E, 24.685N), respectively. The confidence levels of independent monitoring by each satellite are shown in the following table:

[0125] Assumptions Himawari-8 GK-2A There are wildfires <![CDATA[A1=70.1%]]> <![CDATA[A2=64.4%]]> No wildfires <![CDATA[B1=29.9%]]> <![CDATA[B2=35.6%]]>

[0126] In the above table, A2 represents the second satellite warning confidence of the GK-2A satellite, and B2 represents the false alarm rate of the GK-2A satellite.

[0127] Calculate the estimated coordinates of the first satellite according to the second satellite wildfire warning position and the second satellite warning confidence;

[0128] Specifically, the estimated coordinates of the first satellite are calculated according to the following formula:

[0129]

[0130] Where L1 represents the estimated coordinates of the first satellite.

[0131] The first satellite wildfire warning confidence level is calculated based on the second satellite warning confidence level.

[0132] Specifically, the confidence level of the first satellite wildfire warning is calculated according to the following formula:

[0133]

[0134] In this preferred embodiment, the estimated coordinates of the first satellite and the corresponding first satellite wildfire warning confidence are determined through the second judgment result.

[0135] In another preferred embodiment, determining the first wildfire estimated coordinates and the first wildfire warning confidence based on the third judgment result, the first satellite estimated coordinates, and the first satellite wildfire warning confidence includes:

[0136] If the third judgment result is that there are ground monitoring points, and at least one of the ground monitoring points does not detect the wildfire;

[0137] Obtaining, within a current time period, a first ground wildfire alarm position of a first ground monitoring point that detects a wildfire, a first ground alarm confidence corresponding to the first ground wildfire alarm position, and a first ground missed alarm confidence of a second ground monitoring point that detects no wildfire;

[0138] Schematically, the BPA of the ground monitoring points is shown in the following table:

[0139] Assumptions When an alarm is issued When no alarm is issued There are wildfires 85％ 3％ No wildfires 15％ 97％

[0140] Calculating the first wildfire warning confidence level according to the first satellite wildfire warning confidence level, the first ground warning confidence level, and the first ground missed warning confidence level;

[0141] Illustratively, if there is a ground monitoring point that does not detect a wildfire, it is necessary to obtain the first ground missed alarm confidence of the ground monitoring point. Since the first satellite estimated coordinates corresponding to the satellite and the first satellite wildfire alarm confidence have been calculated through the above embodiment, the confidences of the satellite and the ground monitoring point are shown in the following table:

[0142] Assumptions Satellite monitoring Ground monitoring There are wildfires <![CDATA[T1]]> <![CDATA[1-A5]]> No wildfires <![CDATA[W1]]> <![CDATA[A5]]>

[0143] In the above table, W1 represents the false alarm rate corresponding to satellite monitoring, and A5 represents the first ground missed alarm confidence corresponding to the ground monitoring point.

[0144] Therefore, the confidence level of the first wildfire warning can be calculated using the following formula:

[0145]

[0146] Where T2 represents the confidence level of the first wildfire warning.

[0147] Calculating the first wildfire estimated coordinates according to the first ground wildfire warning location, the first satellite estimated coordinates, the first ground missed warning confidence level, the first satellite wildfire warning confidence level, and the first ground warning confidence level;

[0148] Specifically, here we can first fuse the alarm information of the ground monitoring point that detected the wildfire with the satellite's first satellite wildfire alarm confidence and the first satellite estimated coordinates. The calculation method is the same as the calculation of the first wildfire estimated coordinates when all ground monitoring points below detect the wildfire. Then, since the remaining ground monitoring points do not detect the wildfire, the fused result is directly used as the above-mentioned first wildfire estimated coordinates. Schematically, assuming that there is only one ground monitoring point at present and that the ground monitoring point has not issued an alarm, the above-mentioned first satellite estimated coordinates obtained after satellite monitoring fusion are directly used as the above-mentioned first wildfire estimated coordinates.

[0149] If the third judgment result is that there are ground monitoring points, and all ground monitoring points have detected a wildfire;

[0150] Then, the second ground wildfire alarm positions of all ground monitoring points and the second ground alarm confidences corresponding to the second ground wildfire alarm positions are obtained;

[0151] For example, if a ground monitoring point detects a wildfire and issues an alarm, its second ground alarm confidence is obtained, and the second ground wildfire alarm location is (105.785E, 24.686N). Therefore, in the current situation, the confidence of the satellite and ground monitoring points is shown in the following table:

[0152] Assumptions Satellite monitoring Ground monitoring There are wildfires <![CDATA[T1]]> <![CDATA[A4=85%]]> No wildfires <![CDATA[W1]]> <![CDATA[B4=15%]]>

[0153] In the above table, A4 represents the second ground alarm confidence of the ground monitoring point, and B4 represents the false alarm rate of the ground monitoring point.

[0154] Calculating the first wildfire warning confidence level according to the first satellite wildfire warning confidence level and the second ground warning confidence level;

[0155] Indicatively, the confidence level of the first wildfire warning can be calculated using the following formula:

[0156]

[0157] Calculating the first wildfire estimated coordinates according to the first satellite wildfire warning confidence, the second ground warning confidence, the first satellite estimated coordinates, and the second ground wildfire warning position;

[0158] Specifically, the estimated coordinates of the first wildfire can be calculated using the following formula:

[0159]

[0160] Where L2 represents the estimated coordinates of the first wildfire.

[0161] If the third judgment result is that there is no ground monitoring point, the first satellite estimated coordinates are used as the first wildfire estimated coordinates, and the first satellite wildfire warning confidence is used as the first wildfire warning confidence.

[0162] In this preferred embodiment, the first wildfire estimated coordinates and the first wildfire warning confidence are determined based on the third judgment result, the first satellite estimated coordinates, and the first satellite wildfire warning confidence.

[0163] Step S103: If the information source is not a satellite, obtaining second monitoring information monitored by the ground monitoring point during the current time period, and integrating the second monitoring information and the alarm coordinates to obtain the first wildfire estimated coordinates and the first wildfire alarm confidence level;

[0164] Specifically, since the current monitoring sources are satellites and ground monitoring points, if the information source is not satellites, it comes from ground monitoring points. Therefore, it is necessary to integrate the information based on the second monitoring information and alarm coordinates of the ground monitoring points to obtain the first wildfire estimated coordinates and the first wildfire alarm confidence.

[0165] In a preferred embodiment, the step of integrating the second monitoring information and the warning coordinates to obtain the first wildfire estimated coordinates and the first wildfire warning confidence level includes:

[0166] Determining whether all ground monitoring points in the monitored area have detected wildfires during the current time period;

[0167] If at least one ground monitoring point does not detect a wildfire, extracting from all the second monitoring information the third ground wildfire alarm position of the third ground monitoring point that detected a wildfire, the third ground alarm confidence corresponding to the third ground wildfire alarm position, and the second ground missed alarm confidence of the fourth ground monitoring point that detected no wildfire;

[0168] Calculating a first ground wildfire alarm confidence level according to the second ground missed alarm confidence level and the third ground alarm confidence level;

[0169] Calculating a first ground estimated coordinate according to the third ground alarm confidence, the third ground wildfire alarm position, and the second ground missed alarm confidence;

[0170] If all ground monitoring points in the monitored area detect wildfires, the fourth ground wildfire alarm positions of all ground monitoring points in the second monitoring information and the corresponding fourth ground alarm confidences are used;

[0171] Calculating the first ground wildfire alarm confidence level according to the fourth ground wildfire alarm position and the fourth ground alarm confidence level;

[0172] Calculating the first ground estimated coordinates according to the fourth ground alarm confidence level;

[0173] Specifically, the process of determining whether all ground monitoring points in the monitored area have detected wildfires within the current time period, and then calculating the first ground wildfire alarm confidence and the first ground estimated coordinates, is the same as the method of determining the first satellite estimated coordinates and the corresponding first satellite wildfire alarm confidence based on the second judgment result in the previous embodiment, and will not be repeated here.

[0174] Determining whether the warning coordinates are a satellite monitoring blind area to obtain a fifth determination result;

[0175] The first wildfire estimated coordinates and the first wildfire alarm confidence are determined according to the fifth judgment result, the first ground estimated coordinates and the first ground wildfire alarm confidence.

[0176] In this preferred embodiment, the second monitoring information and the warning coordinates are integrated to obtain the first wildfire estimated coordinates and the first wildfire warning confidence.

[0177] In another preferred embodiment, determining the first wildfire estimated coordinates and the first wildfire alarm confidence based on the fifth judgment result, the first ground estimated coordinates, and the first ground wildfire alarm confidence includes:

[0178] If the fifth judgment result is that the warning coordinate is a satellite monitoring blind spot, then using the first ground estimated coordinate as the first wildfire estimated coordinate, and using the first ground wildfire warning confidence as the first wildfire warning confidence;

[0179] Otherwise, obtaining the second satellite missed reporting confidences of all satellites in the monitored area within the current time period;

[0180] Specifically, if the warning coordinates are not in the satellite monitoring blind spot, it means that all satellites have missed detection in the current time period. For example, if a ground monitoring device detects a wildfire, but the corresponding satellite is at the corresponding position during the period and does not detect the wildfire, then the confidence level that the corresponding satellite did not detect the wildfire at the warning coordinates (i.e., the second satellite missed detection confidence level) is obtained. The confidence levels of the satellites and ground monitoring points under the current circumstances are shown in the following table:

[0181]

[0182]

[0183] In the above table, T′1 represents the confidence level of the first ground wildfire warning, and T′2 represents the confidence level of the second satellite missed warning.

[0184] Calculating the first wildfire warning confidence level according to the first ground wildfire warning confidence level and the second satellite missed warning confidence level;

[0185] Specifically, the confidence level of the first wildfire warning is calculated according to the following formula:

[0186]

[0187] Where T3 represents the confidence level of the first wildfire warning.

[0188] The first estimated ground coordinates are used as the first estimated wildfire coordinates.

[0189] Specifically, since the satellite did not issue a wildfire warning, the first ground estimated coordinates obtained by fusing the ground monitoring point information are directly used as the first wildfire estimated coordinates.

[0190] Step S104: determining whether there is a callable drone in the monitored area within the current time period, and obtaining a first determination result;

[0191] Specifically, based on the actual situation on site, determine whether there are any drones that can be called upon.

[0192] Step S105: Determine the location of the wildfire in the monitored area and the confidence level of the existence of the wildfire at the location based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire warning confidence level, and issue a wildfire warning based on the wildfire location and the confidence level.

[0193] Specifically, after obtaining the wildfire location and the corresponding confidence level, the wildfire location and confidence level are output and a wildfire alarm is issued.

[0194] In a preferred embodiment, determining the wildfire location in the monitored area and the confidence level of the presence of a wildfire at the wildfire location based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire warning confidence level includes:

[0195] If the first judgment result is that there is no available drone, then using the first estimated wildfire coordinates as the wildfire location, and using the first wildfire warning confidence as the confidence level of the existence of a wildfire at the wildfire location;

[0196] If the first determination result is that a callable drone exists, and if the first wildfire alarm confidence level is not within a preset wildfire alarm threshold, the first wildfire estimated coordinates are used as the wildfire location, and the first wildfire alarm confidence level is used as the confidence level for the existence of a wildfire at the wildfire location.

[0197] Specifically, the above-mentioned preset wildfire alarm threshold range is set to [40%, 80%), that is, if there is a drone that can be called and the first wildfire alarm confidence is not within the range of [40%, 80%), the first wildfire estimated coordinates are still used as the wildfire location, and the first wildfire alarm confidence is used as the confidence that there is a wildfire at the wildfire location.

[0198] If the first judgment result is that a callable drone exists, and if the first wildfire alarm confidence level is within a preset wildfire alarm threshold, obtaining a drone alarm confidence level obtained by monitoring the callable drone at the first estimated wildfire coordinates;

[0199] using the first wildfire estimated coordinates as the wildfire location;

[0200] The confidence level of the existence of a wildfire at the wildfire location is calculated based on the UAV warning confidence level and the first wildfire warning confidence level.

[0201] Specifically, if there is a drone that can be called and the first wildfire alarm confidence is in the range of [40%, 80%), the drone is called to monitor the estimated coordinates of the first wildfire and obtain the corresponding alarm confidence of the drone.

[0202] Specifically, drones are usually operated by corresponding line crews during flight, and wildfire identification can be performed through machine and human assistance. The confidence levels of the original drone warnings in various situations are shown in the following table.

[0203]

[0204] Since there are two situations for drone self-alarm and manual-assisted alarm, it is necessary to first fuse the drone self-alarm and manual-assisted alarm confidence. The fusion process is the same as the calculation method of the fused alarm confidence T and the estimated coordinate L in the previous embodiment. The fused drone alarm confidence table is as follows:

[0205]

[0206] Therefore, based on the drone alarm type, the corresponding BPA (i.e., the drone alarm confidence level) from the above-mentioned fused drone autonomous and human-assisted collaborative alarm confidence level BPA table is further selected and fused with the above-mentioned first wildfire alarm confidence level T3. For example, if the drone monitoring alarm information is an autonomous drone alarm and no human-assisted alarm is issued, the confidence level of the collaborative drone monitoring fusion is shown in the following table:

[0207] Assumptions Before collaborative drone monitoring Drone monitoring There are wildfires <![CDATA[T3]]> 14.91％ No wildfires <![CDATA[1-T3]]> 85.09％

[0208] Since the existence of a wildfire and the absence of a wildfire conflict with each other, after coordinated drone monitoring, the confidence level of the existence of a wildfire at the fire location is finally obtained as:

[0209]

[0210] Wherein, T4 represents the confidence level that there is a wildfire at the wildfire location.

[0211] Preferably, through the present invention, by combining the characteristics of geostationary satellites, polar-orbiting satellites and ground monitoring points, a highly efficient multi-dimensional wildfire precision monitoring and alarm system linked by satellite remote sensing and ground devices is constructed, which significantly improves the efficiency and accuracy of wildfire monitoring and the credibility of alarms, and effectively supports disaster response and emergency dispatch of power systems.

[0212] In this preferred embodiment, the location of the wildfire in the monitored area and the confidence level of the existence of the wildfire at the location of the wildfire are determined through the first judgment result, the first wildfire estimated coordinates, and the first wildfire warning confidence level.

[0213] Based on the above method embodiments, the present invention provides corresponding device embodiments.

[0214] like Figure 3As shown, an embodiment of the present invention provides a multi-source data fusion wildfire alarm device, comprising:

[0215] Alarm information acquisition module, satellite information integration module, ground monitoring information integration module, drone judgment module and wildfire determination module;

[0216] The alarm information acquisition module is used to obtain the alarm information of any hotspot in the monitored area within the current period; wherein the hotspot alarm information includes: information source and alarm coordinates;

[0217] The satellite information integration module is configured to, when the information source is a satellite, obtain first monitoring information of all satellites monitoring the monitored area during a current time period, and integrate the first monitoring information to obtain first estimated wildfire coordinates and a first wildfire alarm confidence level indicating the presence of a wildfire at the first estimated wildfire coordinates;

[0218] The ground monitoring information integration module is configured to, when the information source is not a satellite, obtain second monitoring information monitored by the ground monitoring point within the current time period, and integrate the second monitoring information and the alarm coordinates to obtain the first wildfire estimated coordinates and the first wildfire alarm confidence level;

[0219] The drone determination module is configured to determine whether there are any available drones in the monitored area within a current period, and obtain a first determination result;

[0220] The wildfire determination module is used to determine the wildfire location in the monitored area and the confidence level of the existence of a wildfire at the wildfire location based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire alarm confidence level, and to issue a wildfire alarm based on the wildfire location and the confidence level.

[0221] It should be noted that the device embodiment described above is merely illustrative, wherein the modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiment provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which can be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement it without paying any creative work. The above schematic diagram is only an example of a multi-source data fusion wildfire alarm device, and does not constitute a limitation of a multi-source data fusion wildfire alarm device, and may include more or fewer components than shown in the figure, or a combination of certain components, or different components.

[0222] Based on the above method embodiment, the present invention provides a corresponding terminal device embodiment.

[0223] Another embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the multi-source data fusion wildfire alarm method described in any embodiment of the present invention.

[0224] For example, in this embodiment, the computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the device.

[0225] The terminal device may be a computing device such as a desktop computer, a notebook computer, a PDA, or a cloud server. The device may include, but is not limited to, a processor and a memory;

[0226] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of the device, connecting the various parts of the device using various interfaces and lines.

[0227] The above-mentioned memory can be used to store the above-mentioned computer programs and / or modules. The above-mentioned processor realizes various functions of the above-mentioned device by running or executing the computer programs and / or modules stored in the above-mentioned memory, and calling the data stored in the memory. The above-mentioned memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; in addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0228] Based on the above method embodiment, the present invention provides a corresponding storage medium embodiment.

[0229] Another embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the multi-source data fusion wildfire alarm method described in any embodiment of the present invention.

[0230] In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, which may be in source code form, object code form, an executable file, or some intermediate form. The computer-readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium.

[0231] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-source data fusion wildfire warning method, characterized in that: include: Obtaining any hotspot alarm information in the monitored area during the current period; wherein the hotspot alarm information includes: information source and alarm coordinates; If the information source is a satellite, obtaining first monitoring information of all satellites monitoring the monitored area during the current time period, and integrating information based on the first monitoring information to obtain first estimated wildfire coordinates and a first wildfire alarm confidence level indicating the presence of a wildfire at the first estimated wildfire coordinates; If the information source is not a satellite, obtaining second monitoring information monitored by the ground monitoring point during the current time period, and integrating the second monitoring information and the warning coordinates to obtain the first wildfire estimated coordinates and the first wildfire warning confidence level; Determine whether there is a callable drone in the monitored area within the current time period, and obtain a first determination result; Based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire warning confidence, the wildfire location in the monitored area and the confidence level of the existence of the wildfire at the wildfire location are determined, and a wildfire warning is issued based on the wildfire location and the confidence level.

2. A multi-source data fusion wildfire alarm method according to claim 1, characterized in that: The acquiring monitoring information of all satellites monitoring the monitored area during the current time period, and integrating the first monitoring information to obtain first estimated wildfire coordinates and a first wildfire alarm confidence level indicating the presence of a wildfire at the first estimated wildfire coordinates, includes: Determining, according to a current time period, the number of satellites monitoring the monitored area within the current time period; If the number of satellites exceeds a preset satellite number threshold, determining, based on the monitoring information, whether all satellites monitoring the monitored area have detected a wildfire within a current time period, thereby obtaining a second determination result; Determining the estimated coordinates of the first satellite and the corresponding first satellite wildfire warning confidence level according to the second judgment result; When the number of satellites does not exceed a preset satellite number threshold, obtaining a third satellite wildfire warning position of a satellite monitoring the monitored area within a current time period, and a third satellite warning confidence corresponding to the third satellite wildfire warning position; Determining the estimated coordinates of the first satellite based on the third satellite wildfire warning position, and determining the first satellite wildfire warning confidence based on the third satellite warning confidence; Determine whether there is a ground monitoring point monitoring the monitored area within the current time period, and obtain a third determination result; The first wildfire estimated coordinates and the first wildfire alarm confidence are determined according to the third judgment result, the first satellite estimated coordinates and the first satellite wildfire alarm confidence.

3. A multi-source data fusion wildfire warning method according to claim 2, characterized in that: Determining the estimated coordinates of the first satellite and the corresponding first satellite wildfire warning confidence level according to the second judgment result includes: If the second judgment result is that at least one satellite has not detected the wildfire, obtaining a first satellite that has detected the wildfire and a second satellite that has not detected the wildfire from all satellites monitoring the monitored area in the current time period; Obtaining a first satellite wildfire warning position monitored by the first satellite, a first satellite warning confidence corresponding to each first satellite wildfire warning position, and a first satellite missed warning confidence of the second satellite; Calculating a first satellite wildfire warning confidence level according to the first satellite warning confidence level and the first satellite missed warning confidence level; Calculate the estimated coordinates of the first satellite according to the first satellite wildfire warning position and the first satellite warning confidence; If the second judgment result is that all satellites have detected the wildfire, obtaining the second satellite wildfire warning positions of all satellites and the second satellite warning confidence corresponding to each second wildfire warning position; Calculate the estimated coordinates of the first satellite according to the second satellite wildfire warning position and the second satellite warning confidence; The first satellite wildfire warning confidence level is calculated based on the second satellite warning confidence level.

4. A multi-source data fusion wildfire warning method according to claim 3, characterized in that: The determining, based on the third judgment result, the first satellite estimated coordinates, and the first satellite wildfire warning confidence, of the first wildfire estimated coordinates and the first wildfire warning confidence includes: If the third judgment result is that there are ground monitoring points, and at least one of the ground monitoring points does not detect the wildfire; Obtaining, within a current time period, a first ground wildfire alarm position of a first ground monitoring point that detects a wildfire, a first ground alarm confidence corresponding to the first ground wildfire alarm position, and a first ground missed alarm confidence of a second ground monitoring point that detects no wildfire; Calculating the first wildfire warning confidence level according to the first satellite wildfire warning confidence level, the first ground warning confidence level, and the first ground missed warning confidence level; Calculating the first wildfire estimated coordinates according to the first ground wildfire warning location, the first satellite estimated coordinates, the first ground missed warning confidence level, the first satellite wildfire warning confidence level, and the first ground warning confidence level; If the third judgment result is that there are ground monitoring points, and all ground monitoring points have detected a wildfire; Then, the second ground wildfire alarm positions of all ground monitoring points and the second ground alarm confidences corresponding to the second ground wildfire alarm positions are obtained; Calculating the first wildfire warning confidence level according to the first satellite wildfire warning confidence level and the second ground warning confidence level; Calculating the first wildfire estimated coordinates according to the first satellite wildfire warning confidence, the second ground warning confidence, the first satellite estimated coordinates, and the second ground wildfire warning position; If the third judgment result is that there is no ground monitoring point, the first satellite estimated coordinates are used as the first wildfire estimated coordinates, and the first satellite wildfire warning confidence is used as the first wildfire warning confidence.

5. A multi-source data fusion wildfire warning method according to claim 4, characterized in that: The step of integrating the second monitoring information and the warning coordinates to obtain the first wildfire estimated coordinates and the first wildfire warning confidence level includes: Determining whether all ground monitoring points in the monitored area have detected wildfires during the current time period; If at least one ground monitoring point does not detect a wildfire, extracting from all the second monitoring information the third ground wildfire alarm position of the third ground monitoring point that detected a wildfire, the third ground alarm confidence corresponding to the third ground wildfire alarm position, and the second ground missed alarm confidence of the fourth ground monitoring point that detected no wildfire; Calculating a first ground wildfire alarm confidence level according to the second ground missed alarm confidence level and the third ground alarm confidence level; Calculating a first ground estimated coordinate according to the third ground alarm confidence, the third ground wildfire alarm position, and the second ground missed alarm confidence; If all ground monitoring points in the monitored area detect wildfires, the fourth ground wildfire alarm positions of all ground monitoring points in the second monitoring information and the corresponding fourth ground alarm confidences are used; Calculating the first ground wildfire alarm confidence level according to the fourth ground wildfire alarm position and the fourth ground alarm confidence level; Calculating the first ground estimated coordinates according to the fourth ground alarm confidence level; Determining whether the warning coordinates are a satellite monitoring blind area to obtain a fifth determination result; The first wildfire estimated coordinates and the first wildfire alarm confidence are determined according to the fifth judgment result, the first ground estimated coordinates and the first ground wildfire alarm confidence.

6. A multi-source data fusion wildfire warning method according to claim 5, characterized in that: The determining, based on the fifth judgment result, the first estimated ground coordinates, and the first ground wildfire warning confidence, the first estimated wildfire coordinates and the first wildfire warning confidence includes: If the fifth judgment result is that the warning coordinate is a satellite monitoring blind spot, then using the first ground estimated coordinate as the first wildfire estimated coordinate, and using the first ground wildfire warning confidence as the first wildfire warning confidence; Otherwise, obtaining the second satellite missed reporting confidences of all satellites in the monitored area within the current time period; Calculating the first wildfire warning confidence level according to the first ground wildfire warning confidence level and the second satellite missed warning confidence level; The first estimated ground coordinates are used as the first estimated wildfire coordinates.

7. A multi-source data fusion wildfire warning method according to claim 6, characterized in that: Determining the location of the wildfire in the monitored area and the confidence level of the existence of the wildfire at the location of the wildfire based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire warning confidence level includes: If the first judgment result is that there is no available drone, then using the first estimated wildfire coordinates as the wildfire location, and using the first wildfire warning confidence as the confidence level of the existence of a wildfire at the wildfire location; If the first determination result is that a callable drone exists, and if the first wildfire alarm confidence level is not within a preset wildfire alarm threshold, the first wildfire estimated coordinates are used as the wildfire location, and the first wildfire alarm confidence level is used as the confidence level for the existence of a wildfire at the wildfire location. If the first judgment result is that a callable drone exists, and if the first wildfire alarm confidence level is within a preset wildfire alarm threshold, obtaining a drone alarm confidence level obtained by monitoring the callable drone at the first estimated wildfire coordinates; using the first wildfire estimated coordinates as the wildfire location; The confidence level of the existence of a wildfire at the wildfire location is calculated based on the UAV warning confidence level and the first wildfire warning confidence level.

8. A multi-source data fusion wildfire warning device, characterized in that: include: Alarm information acquisition module, satellite information integration module, ground monitoring information integration module, drone judgment module and wildfire determination module; The alarm information acquisition module is used to obtain the alarm information of any hotspot in the monitored area within the current period; wherein the hotspot alarm information includes: information source and alarm coordinates; The satellite information integration module is configured to, when the information source is a satellite, obtain first monitoring information of all satellites monitoring the monitored area during a current time period, and integrate the first monitoring information to obtain first estimated wildfire coordinates and a first wildfire alarm confidence level indicating the presence of a wildfire at the first estimated wildfire coordinates; The ground monitoring information integration module is configured to, when the information source is not a satellite, obtain second monitoring information monitored by the ground monitoring point within the current time period, and integrate the second monitoring information and the alarm coordinates to obtain the first wildfire estimated coordinates and the first wildfire alarm confidence level; The drone determination module is configured to determine whether there are any available drones in the monitored area within a current period, and obtain a first determination result; The wildfire determination module is used to determine the wildfire location in the monitored area and the confidence level of the existence of a wildfire at the wildfire location based on the first judgment result, the first wildfire estimated coordinates, and the first wildfire alarm confidence level, and to issue a wildfire alarm based on the wildfire location and the confidence level.

9. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the method implements a multi-source data fusion wildfire alarm method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the wildfire alarm method of multi-source data fusion according to any one of claims 1 to 7.

Images