Search and rescue type aircraft personnel cooperative search and rescue method and device

Abstract

The invention discloses a search and rescue type aircraft personnel collaborative search and rescue method and device. The method comprises the steps of obtaining search target information and search and rescue resource information; processing the search target information and the search and rescue resource information to obtain a search and rescue scheme; and performing evaluation processing on the search and rescue scheme to obtain a final search and rescue scheme. Therefore, the technical scheme provided by the invention supports cooperative search and rescue in different scenes, the search and rescue scheme is preferentially selected by taking the discovery probability as a judgment standard, rapid search and rescue are realized, and the search and rescue efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of maritime emergency rescue, in particular to a search and rescue type aircraft personnel cooperative search and rescue method and device. BACKGROUND

[0002] The search and rescue type aircraft cooperates with the rescue ship in the method of air search, guidance and air drop rescue. This rescue mode is to make full use of the characteristics of long range, high speed and wide search range of the search and rescue aircraft. First, a wide range of search is carried out to complete the positioning of the distressed personnel. Secondly, after the distressed personnel are determined, the nearby rescue ship is guided and assisted in rescue in time. If necessary, the aircraft can also drop rescue equipment for the distressed personnel to save themselves.

[0003] In the maritime search and rescue task, the cooperative rescue is carried out by comprehensively considering the rescue resources, environmental conditions, command and other related conditions, and the rescue process is designed. It is critical to improve the success rate of maritime rescue of personnel and ships. In order to effectively improve the efficiency of cooperative rescue, a cooperative rescue method is needed to adapt to different scenes, automatically generate and optimize search and rescue schemes, improve the efficiency of maritime search and rescue tasks, and protect the life safety of maritime distressed personnel. SUMMARY

[0004] In view of the above problems, the present application provides a search and rescue type aircraft personnel cooperative search and rescue method and device to solve the problem of low efficiency of maritime search and rescue.

[0005] To achieve the above purpose, a first aspect of an embodiment of the present application discloses a search and rescue type aircraft personnel cooperative search and rescue method, which comprises:

[0006] S1, acquiring search target information and search and rescue resource information; the search and rescue information includes the position coordinates of the search target, sea state information, terrain type, wind information, weather conditions, target quantity and injury grade, etc.; the search and rescue resource information includes the position of the search and rescue aircraft, the flight state, the search progress, and the position of the ground rescue personnel, the rescue capacity, etc.;

[0007] S2, processing the search target information and the search and rescue resource information to obtain a search and rescue scheme;

[0008] S3, evaluating and processing the search and rescue scheme to obtain a final search and rescue scheme.

[0009] As an optional implementation manner, in the first aspect of the embodiment of the present application, the processing of the search target information and the search and rescue resource information to obtain a search and rescue scheme comprises:

[0010] S21, matching the search target information and the search and rescue resource information to obtain rescue information; the rescue information comprises search range information and rescue equipment information;

[0011] S22, based on the rescue information, performing calculation processing on the search target information and the search and rescue resource information to obtain a search and rescue scheme; the search and rescue scheme comprises a search path and a rescue mode, and the rescue mode is water landing rescue and / or air drop rescue.

[0012] As an optional implementation, in the first aspect of the embodiment of the present application, the matching the search target information and the search and rescue resource information to obtain rescue information comprises:

[0013] S211, processing the search target information to obtain search range information; the search range information comprises a search target base point position and a search radius; the search range information represents a circle with the search target base point position as the center and the search radius as the radius;

[0014] According to the search target information, a search base point correction model is used for processing to obtain the search target base point position;

[0015] The search base point correction model is represented as:

[0016] D=(x0+Δx,y0+Δy,z0)

[0017]

[0018] In the formula, D represents the corrected search target base point position, x0, y0 and z0 represent the search target horizontal, vertical and depth coordinate positions in the search target information; Δx and Δy represent the horizontal coordinate correction value and the vertical coordinate correction value respectively; v w and v s represent the wind speed and the current speed respectively; φ w and φ s represent the wind direction angle and the current direction angle respectively; t d represents the time of the search and rescue aircraft reaching the search position;

[0019] According to the search target base point position, a search radius calculation model is used for calculation to obtain the search radius; the search radius calculation model is represented as:

[0020]

[0021] In the formula, T represents the time interval from the distress to the start of the search; c w represents the wind drift coefficient, and c w takes the value range of 0.02-0.05 and is adjusted with the wind speed and the target type.

[0022] S212, performing configuration processing on the search and rescue resource information according to the search range information to obtain rescue equipment information; the rescue equipment information represents device information participating in rescue; the rescue equipment information includes search device demand, rescue device demand, medical device demand, and communication device demand, etc.

[0023] As an optional implementation, in the first aspect of the embodiment of the present application, the solving processing on the search target information and the search and rescue resource information based on the rescue information to obtain the search and rescue scheme includes:

[0024] S221, determining a search path according to the search range information;

[0025] S222, determining a rescue mode according to the search range information and the rescue equipment information.

[0026] As an optional implementation, in the first aspect of the embodiment of the present application, the determining of the rescue mode according to the search range information and the rescue equipment information includes:

[0027] processing wind power, wind speed, and sea conditions according to weather conditions in the search target information to obtain a search and rescue danger value;

[0028] judging whether the search and rescue danger value exceeds a safety threshold of a search and rescue type aircraft according to the rescue equipment information to obtain a fourth judgment result;

[0029] when the fourth judgment result is yes, adopting air-drop rescue as a target rescue mode; otherwise, adopting water-landing rescue as the target rescue mode;

[0030] if water-landing rescue is adopted, setting a rescue area according to the distress range, calculating water-landing points of the search and rescue aircraft using a k-means clustering method, and implementing rescue;

[0031] if air-drop rescue is adopted, reading environmental parameters or re-adjustable environmental parameters, calculating air-drop positions of the search and rescue type aircraft according to wind power, wind direction, and wind speed, and implementing air-drop rescue.

[0032] As an optional implementation, in the first aspect of the embodiment of the present application, the evaluation processing on the search and rescue scheme to obtain a final search and rescue scheme includes:

[0033] S31, processing the search target information and the rescue information using a discovery probability model according to the search and rescue scheme to obtain a discovery probability estimate value;

[0034] The discovery probability model is expressed as:

[0035]

[0036] In the formula, P represents the estimated probability of discovery, k represents the matching coefficient, which is related to the search route and search mode and is preset according to the expert system; λ represents the detection sensitivity parameter of the search and rescue aircraft; A represents the search range, and T S Indicates search duration; ξ represents weather influence factor; μ represents sea state influence factor; V P Indicates the speed of the search and rescue aircraft; D indicates the spacing between search lines;

[0037] The weather influencing factor ξ is expressed as:

[0038] ξ=exp(-k w v w -k r p r -k v l v )

[0039] In the formula, k w v w Representing the wind speed influence coefficient and wind speed, respectively, k w =0.02; k r p r k represents the rainfall impact coefficient and rainfall intensity, respectively. r =0.4; k v l v Representing the visibility distance influence coefficient and visibility distance (in meters), respectively, k v =0.01;

[0040] The sea state influence factor μ is expressed as:

[0041] μ = exp(-k h w h -k s v s -k si v si )

[0042] In the formula, k h w h Representing the wave height influence coefficient and wave height respectively, k h =0.3; k s v s Representing the influence coefficient of ocean current velocity and ocean current velocity, respectively, k s =0.04; k si v si To represent the visibility of seawater respectively

[0043] Response coefficient, seawater visibility, k si =0.06;

[0044] S32, judging whether the discovery probability estimate is less than a preset expected value, to obtain a fifth judgment result;

[0045] When the fifth judgment result is yes, the search and rescue scheme is optimized, and step S31 is executed to recalculate the discovery probability estimate;

[0046] When the fifth judgment result is no, the search and rescue scheme is determined as a final search and rescue scheme.

[0047] The second aspect of the embodiment of the application discloses a search and rescue type aircraft personnel cooperative search and rescue device, which adopts the search and rescue type aircraft personnel cooperative search and rescue method disclosed in the first aspect of the embodiment of the application, and the device comprises:

[0048] An information acquisition module is configured to acquire search target information and search and rescue resource information;

[0049] A scheme generation module is configured to process the search target information and the search and rescue resource information to obtain a search and rescue scheme;

[0050] A scheme evaluation and optimization module is configured to evaluate and process the search and rescue scheme to obtain a final search and rescue scheme.

[0051] The third aspect of the application discloses another search and rescue type aircraft personnel cooperative search and rescue device, which comprises:

[0052] A memory in which executable program codes are stored;

[0053] A processor coupled with the memory;

[0054] The processor invokes the executable program codes stored in the memory, and is configured to execute the search and rescue type aircraft personnel cooperative search and rescue method disclosed in the first aspect of the embodiment of the application.

[0055] The fourth aspect of the application discloses a computer readable storage medium, which stores computer instructions, and the computer instructions are configured to execute the search and rescue type aircraft personnel cooperative search and rescue method disclosed in the first aspect of the embodiment of the application when being invoked.

[0056] Compared with the prior art, the embodiment of the application has the following beneficial effects:

[0057] The search and rescue method and apparatus for personnel collaboration in search and rescue aircraft disclosed in this invention provide a technical solution that supports collaborative search and rescue in different mission scenarios. By comparing multiple solutions under the same mission scenario, rapid search and rescue can be achieved in typical search and rescue scenarios, improving search and rescue efficiency. Through task allocation planning, the influence of sea conditions and weather is comprehensively considered, and search and rescue resources and search areas are rationally utilized, shortening search time and enabling faster discovery of disaster victims. The success rate of rescue is improved by using a discovery probability model to evaluate search and rescue plans and optimizing them to maximize the discovery probability, providing timely rescue for disaster victims and increasing their chances of survival. Attached Figure Description

[0058] Figure 1 This is a flowchart of a collaborative search and rescue method for personnel in a search and rescue aircraft, as disclosed in an embodiment of the present invention.

[0059] Figure 2 This is a schematic diagram of a personnel collaborative search and rescue device for search and rescue aircraft disclosed in an embodiment of the present invention;

[0060] Figure 3 This is a schematic diagram of another search and rescue aircraft personnel collaborative search and rescue device disclosed in an embodiment of the present invention. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Example 1

[0063] Please see Figure 1 . Figure 1 This is a flowchart illustrating a collaborative search and rescue method for personnel in a search and rescue aircraft, as disclosed in an embodiment of the present invention. Figure 1 The described search and rescue aircraft personnel collaborative search and rescue method is applied in a management system, such as a local server or cloud server for management, and the embodiments of the present invention are not limited thereto.

[0064] like Figure 1 As shown, the collaborative search and rescue method for personnel in a search and rescue aircraft disclosed in this embodiment of the invention includes:

[0065] S1, obtaining search target information and search and rescue resource information; the search and rescue information includes position coordinates of the search target, sea state information, terrain type, wind information, weather conditions, target quantity and injury level, etc.; the search and rescue resource information includes position, flight state, search progress of the search and rescue aircraft, and position, rescue capacity of the ground rescue personnel, etc.;

[0066] S2, processing the search target information and the search and rescue resource information to obtain a search and rescue scheme;

[0067] S3, evaluating and processing the search and rescue scheme to obtain a final search and rescue scheme.

[0068] In another optional embodiment, the processing of the search target information and the search and rescue resource information to obtain a search and rescue scheme comprises:

[0069] S21, matching processing the search target information and the search and rescue resource information to obtain rescue information; the rescue information includes search range information and rescue equipment information;

[0070] S22, based on the rescue information, solving processing the search target information and the search and rescue resource information to obtain a search and rescue scheme; the search and rescue scheme includes a search path and a rescue mode, and the rescue mode is water landing rescue and / or air drop rescue.

[0071] In yet another optional embodiment, the matching processing of the search target information and the search and rescue resource information to obtain rescue information by using a target and resource matching model comprises:

[0072] S211, processing the search target information to obtain search range information; the search range information includes a search target base point position and a search radius; the search range information represents a circle with the search target base point position as the center and the search radius as the radius;

[0073] According to the search target information, a search base point correction model is used for processing to obtain a search target base point position;

[0074] The search base point correction model is expressed as:

[0075] D=(x0+Δx,y0+Δy,z0)

[0076]

[0077] In the formula, D represents the corrected search target base point position, x0, y0, and z0 represent the horizontal, longitudinal, and depth coordinate positions of the search target in the search target information; Δx and Δy represent the horizontal coordinate correction value and the longitudinal coordinate correction value, respectively; v w , vs These represent wind speed and ocean current speed, respectively; φ w φ s These represent the wind direction angle and the ocean current direction angle, respectively; t d Indicates the time when the search and rescue aircraft arrived at the search location;

[0078] Based on the location of the target base point, the search radius is calculated using a search radius calculation model; the search radius calculation model is expressed as follows:

[0079]

[0080] In the formula, T represents the time interval from the time of distress to the start of the search; c w c represents the wind-induced drift coefficient. w The value ranges from 0.02 to 0.05, and is adjusted according to wind speed and target type;

[0081] S212. Based on the search range information, the search and rescue resource information is configured to obtain rescue equipment information; the rescue equipment information represents the equipment information participating in the rescue; the rescue equipment information includes search equipment requirements, rescue equipment requirements, medical equipment requirements, and communication equipment requirements, etc.

[0082] It should be noted that the technical solution described in the above embodiments takes into account the initial position of the search target, as well as multiple factors such as wind speed and ocean current speed. It can more accurately predict the drift position of the target under the influence of various environmental factors, improve the accuracy of the base point position, and thus provide a more reliable starting point for subsequent search work.

[0083] In another optional embodiment, the step of configuring the search and rescue resource information based on the search range information to obtain rescue equipment information includes:

[0084] S2121. The configuration of search equipment requirements shall be determined based on the search radius and marine environment.

[0085] When the search radius is small (e.g., less than 50 nautical miles) and the visibility in the sea area is good, equipment such as radar and optical telescopes should be deployed. Radar can quickly scan and locate targets within a certain range, while optical telescopes can conduct detailed observation and identification of targets at close range.

[0086] When the search radius exceeds 50 nautical miles, or when the marine environment is complex (such as low visibility weather such as heavy fog or heavy rain), more advanced search radar and infrared detection equipment are required to effectively search for distant targets in adverse environments.

[0087] S2122, The rescue equipment requirement configuration takes the rapid and safe rescue of the target as the core, mainly including lifeboats, hoisting equipment and diving equipment, etc., which can cope with complex sea rescue situations.

[0088] S2123, The medical equipment requirement configuration meets the demand for emergency treatment of the distressed personnel during the rescue process, including medical first aid kits containing tourniquets, bandages, oxygen cylinders, cardiopulmonary resuscitation equipment, etc., to cope with common injuries and sudden illnesses. For tasks with a large search radius and a long rescue time, portable medical diagnostic equipment such as electrocardiographs, sphygmomanometers, and blood glucose meters, etc. are also required to be configured to allow medical personnel to make preliminary diagnoses and monitor the physical condition of the distressed personnel.

[0089] S2124, The communication equipment requirement configuration needs to ensure that each rescue force can communicate with each other and with the command center in real time and stably.

[0090] All search and rescue aircraft participating in the rescue should be equipped with VHF communication equipment for real-time communication at close range, facilitating the coordination of rescue operations. For long-distance communication, satellite phones and satellite communication equipment are required to ensure that the sea area without ground communication signals can maintain contact with the command center and report the progress of the search and rescue and request assistance in a timely manner. In addition, emergency communication equipment such as emergency beacons and radio position markers should also be configured to send out distress signals when the rescue equipment fails or is in distress, improving the safety of the aircraft.

[0091] In another optional embodiment, the solving and processing of the search target information and the search and rescue resource information based on the rescue information to obtain a search and rescue scheme comprises:

[0092] S221, determining a search path according to the search range information;

[0093] S222, determining a rescue mode according to the search range information and the rescue equipment information.

[0094] In another optional embodiment, the determination of the search path according to the search range information comprises:

[0095] S2211, calculating according to a search base point to obtain a first distance; the first distance represents the distance from the current position of the search and rescue aircraft to the search base point;

[0096] S2212, determining whether the first distance is less than a second distance to obtain a first determination result;

[0097] When the first determination result is yes, step S2213 is performed; otherwise, step S2214 is performed;

[0098] S2213, judging whether the search radius is smaller than the second distance, obtaining a second judgment result;

[0099] When the second judgment result is yes, the search route adopts the first search route; otherwise, the search route adopts the second search route.

[0100] The first search route is specifically: taking the search base point as a search area starting point, the search aircraft enters the search area, taking the search base point as a base point, an equilateral triangle flight path is constructed, the length of the equilateral triangle is the search radius, after the search aircraft completes the search of the equilateral triangle flight path, the search aircraft is right turned by 120° to perform the next search of the equilateral triangle flight path; when no search target is found after completing the first search, the search flight path can be rotated by 30° clockwise as a whole to perform the next search.

[0101] The second search route is specifically: determining the interval of the search line according to the search sensor performance, taking 80% of the search sensor detection distance as the interval of the search line; taking the search base point as a search area starting point, the search aircraft enters the search area, taking the interval of the search line as the first flight path length, the search aircraft is right turned by 90°, taking the interval of the search line as the second flight path, the search aircraft is right turned by 90°, taking the second flight path plus the interval of the search line as the third flight path, the search aircraft is right turned by 90°, taking the length of the third flight path as the fourth flight path, and the like, every two search lengths are increased by one search line interval on the basis of the last flight path, and then the search is expanded outward in a concentric square; when the first square expansion search is completed, if the search needs to be continued, the search flight path can be rotated by 45° as a whole to perform the next search.

[0102] S2214, judging whether there is a ship to cooperate in the search, obtaining a third judgment result;

[0103] When the third judgment result is yes, the search route adopts the third search route; otherwise, the search route adopts the fourth search route.

[0104] The third search route is specifically: taking the search base point as the center, a rectangular search area covering the search radius is constructed, the search line interval is determined, the search starting point is located at a position 1 / 2 search line interval away from two right angle sides in the rectangular search area, the search line interval is not greater than the search sensor detection distance, and the search line interval is the scanning width, and then the search is performed along the rectangular short side back and forth with the interval.

[0105] The fourth search route is specifically: taking the search base point as the center, a rectangular search area covering the search radius is constructed, the search line interval is determined, the search starting point is located at a position 1 / 2 search line interval away from two right angle sides in the rectangular search area, the search line interval is not greater than the search sensor detection distance, and the search line interval is the scanning width, and then the search is performed along the rectangular long side back and forth with the interval.

[0106] It should be noted that the technical solutions described in the above embodiments can adapt to different scene requirements by designing flexible and diverse search routes.

[0107] In yet another optional embodiment, the determining of the rescue mode according to the search range information and the rescue equipment information comprises:

[0108] According to the weather condition in the search target information, the wind force, wind speed and sea conditions are processed to obtain a search and rescue danger value; it should be noted that by quantifying the weather and sea condition parameters, combining the preset weight distribution and risk matrix, the wind force, wind speed and sea conditions are converted into quantifiable search and rescue danger values;

[0109] According to the rescue equipment information, it is judged whether the search and rescue danger value exceeds the safety threshold of the search and rescue aircraft to obtain a fourth judgment result;

[0110] When the fourth judgment result is yes, the air-drop rescue is adopted as the target rescue mode; otherwise, the water-landing rescue is adopted as the target rescue mode;

[0111] If the water-landing rescue is adopted, a rescue area is set according to the distress range, the k-means clustering method is used to calculate the water-landing point of the search and rescue aircraft, and the rescue is implemented; if the air-drop rescue is adopted, the environmental parameters are read or the environmental parameters are adjusted, the air-drop position of the search and rescue aircraft is calculated according to the wind force, wind direction, wind speed and the like, and the air-drop rescue is implemented;

[0112] It should be noted that the reasonable water-landing area is calculated according to the target discovery position to achieve safe and fast rescue effect;

[0113] In the air-drop rescue, the suitable air-drop position and air-drop direction are calculated according to the target discovery position and the sea conditions at that time, including the wave height, wind speed, wind direction and the like, to ensure that the air-dropped rescue materials are scattered in the reachable position of the target area, and to ensure the rescue effect.

[0114] It should be noted that in the technical solutions described in the above embodiments, the rescue mode can be quickly and accurately determined according to different environmental conditions, the success rate and efficiency of the search and rescue operation are improved, and more reliable and effective rescue guarantee is provided for the distressed personnel.

[0115] In yet another optional embodiment, the processing of the wind force, wind speed and sea conditions according to the weather condition in the search target information to obtain a search and rescue danger value comprises:

[0116] According to the industry general standard, the wind force, wind speed and sea condition parameters are converted into a risk score of 1-5 points, and the higher the score, the higher the risk;

[0117] According to the actual influence of each parameter in the search and rescue scene, the weights of wind force (W1), wind speed (W2), and sea state (W3) are preset, and W1+W2+W3=1 is satisfied;

[0118] The scores of the quantized parameters are multiplied by the corresponding weights, and the sum is obtained to obtain a total risk score (S);

[0119] The specific calculation formula is as follows:

[0120] S=P w *W1+P v *W2+P s *W3

[0121] In the formula, S represents the total risk score; P w represents the wind force score; P v represents the wind speed score; P s represents the sea state score; W1, W2, and W3 represent the weights of wind force, wind speed, and sea state, respectively.

[0122] In another optional embodiment, the evaluation process of the search and rescue scheme is performed to obtain a final search and rescue scheme, which comprises:

[0123] S31, according to the search and rescue scheme, the search target information and the rescue information are processed by using a discovery probability model to obtain a discovery probability estimate;

[0124] The discovery probability model is represented as:

[0125]

[0126] In the formula, P represents the discovery probability estimate, k represents the matching coefficient, the matching coefficient is related to the search route and the search mode, and is preset according to an expert system; λ represents the detection sensitivity parameter of the search and rescue aircraft; A represents the search range, T S represents the search duration; ξ represents the weather influence factor; μ represents the sea state influence factor; V P represents the search and rescue aircraft speed; and D represents the search line spacing.

[0127] The weather influence factor ξ is represented as:

[0128] ξ=exp(-k w v w -k r p r -k v l v )

[0129] In the formula, k w , v w represent the wind speed influence coefficient and the wind speed, respectively, k w= 0.02; k r , p r respectively represent rainfall influence coefficient, rainfall intensity, k r = 0.4; k v , I v respectively represent visual distance influence coefficient, visual distance (unit: meter), k v = 0.01;

[0130] The sea state influence factor μ is represented as:

[0131] μ = exp(-k h w h -k s v s -k si v si )

[0132] In the formula, k h , w h respectively represent wave height influence coefficient, sea wave height, k h = 0.3; k s , v s respectively represent sea current speed influence coefficient, sea current speed, k s = 0.04; k si , v si respectively represent sea water visibility influence coefficient, sea water visibility, k si = 0.06;

[0133] The recommended value range of the matching coefficient is 0.6-0.9, specifically:

[0134] When the search route and search mode are highly matched with the target characteristics and environment, such as using parallel dense search lines and radar mode for a static target at a known position, the matching coefficient can be taken as 0.8-0.9;

[0135] When the matching degree is general, such as using conventional sector search lines and visual mode for a dynamic target, the matching coefficient can be taken as 0.7-0.8;

[0136] When the matching degree is low, such as using extensive search route and single visual mode for an unknown dynamic target, the matching coefficient can be taken as 0.6-0.7.

[0137] It should be noted that traditional search and rescue plan selection may rely on experience-based judgment, which is highly subjective. The technical solution provided in this application uses the probability of discovery as the criterion, which can eliminate reliance on mere experience and reduce the interference of human factors in decision-making. Judging the merits of a plan based on the probability of discovery ensures that search and rescue decisions are always focused on improving the likelihood of target discovery, ensuring that resource allocation and action deployment are directed in the direction most conducive to target discovery, avoiding the waste of resources on plans that lack efficient target discovery capabilities, and maximizing the achievement of search and rescue operation objectives.

[0138] S32. Determine whether the estimated discovery probability is less than the preset expected value, and obtain the fifth determination result;

[0139] When the fifth judgment result is yes, after optimizing the search and rescue plan by adjusting parameters such as search range, search route, search mode, search time, and search equipment, step S31 is executed to recalculate the estimated probability of discovery.

[0140] If the fifth judgment result is negative, the search and rescue plan will be determined as the final search and rescue plan.

[0141] As can be seen, the technical solution described in the above embodiments, based on the dynamic assessment of the discovery probability, provides strong support for the flexible adjustment of the search and rescue plan. When the discovery probability does not meet the expected value, it can quickly optimize the factors affecting the discovery probability (such as search routes, search modes, search time, etc.), recalculate the discovery probability, and continue until the plan achieves the best results. This dynamic optimization mechanism enables search and rescue operations to quickly adapt to complex and ever-changing environments, improving the ability to respond to emergencies.

[0142] Example 2

[0143] Please see Figure 2 . Figure 2 This is a schematic diagram of a personnel collaborative search and rescue device for search and rescue aircraft disclosed in an embodiment of the present invention. Figure 2 The described apparatus can be applied in management systems, such as local servers or cloud servers for management, and the embodiments of the present invention are not limited thereto. Figure 2 As shown, the device may include:

[0144] Information acquisition module 201 is used to acquire search target information and search and rescue resource information;

[0145] The scheme generation module 202 is used to process the search target information and the search and rescue resource information to obtain a search and rescue scheme;

[0146] The scheme evaluation and optimization module 203 evaluates and processes the search and rescue scheme to obtain the final search and rescue scheme.

[0147] Embodiment two is a product corresponding to embodiment one, the method steps are the same, and embodiment two will not be described again.

[0148] Embodiment three

[0149] Please refer to Figure 3 , Figure 3 is another structure diagram of the search and rescue type aircraft personnel cooperative search and rescue device disclosed in the embodiment of the application. Among them, Figure 3 The device described can be applied to a management system, such as a local server or a cloud server for management, and the embodiment of the application is not limited. As Figure 3 shown, the device can include:

[0150] The memory 301 stores executable program codes.

[0151] The processor 302 is coupled to the memory 301.

[0152] The processor 302 calls the executable program codes stored in the memory 301, and is used to execute the steps in the search and rescue type aircraft personnel cooperative search and rescue method described in embodiment one.

[0153] Embodiment four

[0154] The embodiment of the application discloses a computer readable storage medium, which stores a computer program for electronic data exchange, wherein the computer program makes the computer execute the steps in the search and rescue type aircraft personnel cooperative search and rescue method described in embodiment one.

[0155] The device embodiment described above is only schematic, wherein the modules illustrated as separate components can or can not be physically separated, and the components illustrated as modules can or can not be physical modules, that is, they can be located in one place, or they can be distributed on multiple network modules. According to actual needs, part or all of the modules can be selected to achieve the purpose of the embodiment scheme. Those skilled in the art can understand and implement it without creative labor.

[0156] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and the necessary general hardware platform through the above specific description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, which includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM), or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other medium that can be used to carry or store data in a computer readable manner.

[0157] Finally, it should be noted that: the search and rescue type aircraft personnel cooperative search and rescue method and device disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that; the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for coordinated search and rescue of personnel in search and rescue aircraft, characterized in that, The method includes: S1. Obtain search target information and search and rescue resource information; the search and rescue information includes the location coordinates of the search target, sea state information, terrain type, wind information, weather conditions, number of targets, and injury level; the search and rescue resource information includes the location, flight status, and search progress of search and rescue aircraft, and the location and rescue capabilities of ground rescue personnel; S2. Process the search target information and the search and rescue resource information to obtain a search and rescue plan; S3. Evaluate and process the search and rescue plan to obtain the final search and rescue plan.

2. The method for coordinated search and rescue of personnel in search and rescue aircraft according to claim 1, characterized in that, The process of processing the search target information and the search and rescue resource information to obtain a search and rescue plan includes: S21. Match the search target information and the search and rescue resource information to obtain rescue information; the rescue information includes search range information and rescue equipment information. S22. Based on the rescue information, the search target information and the search and rescue resource information are processed to obtain a search and rescue plan; the search and rescue plan includes a search path and a rescue mode, wherein the rescue mode is water rescue and / or airdrop rescue.

3. The method for coordinated search and rescue of personnel in search and rescue aircraft according to claim 2, characterized in that, The process of matching the search target information and the search and rescue resource information to obtain rescue information includes: S211. The search target information is processed to obtain search range information; the search range information includes the search target base point location and the search radius. Based on the search target information, the search base point correction model is used to process the data to obtain the search target base point position. The search base point correction model is expressed as follows: D = (x0 + Δx, y0 + Δy, z0) In the formula, D represents the corrected position of the search target base point, x0, y0, z0 represent the horizontal, vertical, and depth coordinates of the search target in the search target information; Δx and Δy represent the correction values ​​for the horizontal and vertical coordinates, respectively; v w v s These represent wind speed and ocean current speed, respectively; φ w φ s These represent the wind direction angle and the ocean current direction angle, respectively; t d Indicates the time when the search and rescue aircraft arrived at the search location; Based on the location of the target base point, the search radius is obtained using the search radius calculation model; the search radius calculation model is expressed as: In the formula, T represents the time interval from the time of distress to the start of the search; c w c represents the wind-induced drift coefficient. w The value range is 0.02 to 0.05; S212. Based on the search range information, configure the search and rescue resource information to obtain rescue equipment information.

4. The method for coordinated search and rescue of personnel in search and rescue aircraft according to claim 3, characterized in that, The step of processing the search target information and the search and rescue resource information based on the rescue information to obtain a search and rescue plan includes: S221. Determine the search path based on the search range information; S222. Determine the rescue mode based on the search range information and the rescue equipment information.

5. The method for coordinated search and rescue of personnel in search and rescue aircraft according to claim 4, characterized in that, The step of determining the rescue mode based on the search range information and the rescue equipment information includes: Based on the weather conditions in the search target information, wind force, wind speed, and sea state are processed to obtain the search and rescue danger value; Based on the rescue equipment information, it is determined whether the search and rescue danger value exceeds the safety threshold of the search and rescue aircraft, and a fourth judgment result is obtained; If the fourth judgment result is yes, the airdrop rescue is adopted as the target rescue mode; otherwise, the water rescue is adopted as the target rescue mode. If water-based rescue is adopted, the rescue area shall be set up according to the scope of the distress, the water-based landing point of the search and rescue aircraft shall be calculated, and the rescue shall be carried out. If airdrop rescue is adopted, environmental parameters can be read or readjusted, and the airdrop location of the search and rescue aircraft can be calculated based on wind force, wind direction, and wind speed to carry out airdrop rescue.

6. The method for coordinated search and rescue of personnel in search and rescue aircraft according to claim 1, characterized in that, The process of evaluating the search and rescue plan to obtain the final search and rescue plan includes: S31. According to the search and rescue plan, the search target information and the rescue information are processed using a discovery probability model to obtain a discovery probability estimate; The discovery probability model is expressed as follows: In the formula, P represents the estimated probability of discovery, k represents the matching coefficient; λ represents the detection sensitivity parameter of the search and rescue aircraft; A represents the search range, and T... S Indicates search duration; ξ represents weather influence factor; μ represents sea state influence factor; V P Indicates the speed of the search and rescue aircraft; D indicates the spacing between search lines; The weather influencing factor ξ is expressed as: ξ=exp(-k w in w -to r p r -to v l v ) In the formula, k w v w These represent the wind speed influence coefficient and wind speed, respectively, k. w =0.02; k r p r k represents the rainfall impact coefficient and rainfall intensity, respectively. r =0.4; k v l v Let k represent the visibility distance influence coefficient and visibility distance, respectively. v =0.01; The sea state influence factor μ is expressed as: μ=exp(-k h w h -to s in s -to si in si ) In the formula, k h w h Representing the wave height influence coefficient and wave height respectively, k h =0.3; k s v s Representing the influence coefficient of ocean current velocity and ocean current velocity, respectively, k s =0.04; k si v si Let k represent the seawater visibility influence coefficient and seawater visibility, respectively. si =0.06; S32. Determine whether the estimated discovery probability is less than the preset expected value, and obtain the fifth determination result; When the fifth judgment result is yes, after optimizing the search and rescue plan, execute step S31 to recalculate the estimated probability of discovery; If the fifth judgment result is negative, the search and rescue plan will be determined as the final search and rescue plan.

7. A search and rescue device for personnel coordination in search and rescue aircraft, characterized in that, The apparatus for the collaborative search and rescue method for personnel in a search and rescue aircraft as described in any one of claims 1-6 includes: The information acquisition module is used to acquire information about the search target and search and rescue resources. The plan generation module is used to process the search target information and the search and rescue resource information to obtain a search and rescue plan; The scheme evaluation and optimization module evaluates and processes the search and rescue scheme to obtain the final search and rescue scheme.

8. A search and rescue device for personnel coordination in search and rescue aircraft, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the search and rescue method for personnel of a search and rescue aircraft as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, which, when invoked, are used to execute the search and rescue method for personnel coordination in search and rescue aircraft as described in any one of claims 1-6.

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