Fire point positioning method, device and medium based on thermal imaging camera

Abstract

The application provides a fire point positioning method based on a thermal imaging camera, comprising: establishing an elevation data model with the camera position as the center, for querying the latitude and longitude coordinates and the elevation value according to the geographic distance and the angle; collecting a plurality of sets of data pairs of pixel coordinates and actual geographic distances under different angles; establishing a set of mapping functions from pixel coordinates to geographic distances based on the set of data pairs; for a detected fire point, the corresponding mapping function is selected to calculate the geographic distance from the fire point to the camera according to the pixel coordinates and the angle of the camera relative to the reference direction; and based on the elevation data model, the latitude and longitude coordinates and the elevation value of the fire point are queried using the geographic distance and the angle. Through the combination of the elevation data model and the set of mapping functions, the application realizes the rapid and accurate conversion of the fire point from the pixel coordinates to the geographic coordinates, effectively improves the positioning accuracy and efficiency, and provides reliable technical support for fire monitoring in complex terrains.

Description

Technical Field

[0001] This application relates to the field of fire monitoring technology, specifically to a fire location method, device, and medium based on a thermal imaging camera, which is particularly suitable for the rapid and accurate identification and location of fire points in complex terrain environments. Background Technology

[0002] Traditional fire monitoring methods in complex terrains such as forests and grasslands mainly rely on manual patrols, observation from watchtowers, or aircraft patrols. These methods have problems such as large monitoring blind spots and the inability to achieve continuous monitoring around the clock.

[0003] With the development of infrared thermal imaging technology, thermal imaging cameras have been used for fire monitoring, but they still have limitations in fire point identification and location: relying solely on thermal imaging images is susceptible to interference from ambient temperature fluctuations and solar radiation, resulting in a high false alarm rate; infrared images have low spatial resolution, making it difficult to accurately locate fire points; moreover, existing technologies lack effective three-dimensional visualization methods, making it impossible to intuitively display the spatial distribution of fire points in complex terrain.

[0004] Therefore, there is an urgent need for a fire location method that can combine geographic information and high-precision calculations to improve the accuracy and practicality of fire monitoring. Summary of the Invention

[0005] The purpose of this application is to solve at least one of the technical problems existing in the prior art mentioned above, and to propose a fire point location method, device, and medium based on a thermal imaging camera. This technology achieves rapid and accurate fire point location by integrating elevation data modeling and the calculation of a mapping function from pixel coordinates to geographic distance.

[0006] In a first aspect, embodiments of this application provide a fire point localization method based on a thermal imaging camera, including:

[0007] An elevation data model is constructed with the location of the thermal imaging camera as the center; the elevation data model is constructed based on geographic elevation data and is used to obtain the corresponding latitude and longitude coordinates and elevation values ​​according to geographic distance and angle information;

[0008] Collect data sets of pixel coordinates and geographic distances from multiple angles;

[0009] Based on the data set, establish a set of mapping functions from pixel coordinates to geographic distance;

[0010] For the detected fire point, the corresponding mapping function is selected according to the angle of the thermal imaging camera relative to the reference direction, and the geographical distance from the fire point to the thermal imaging camera is obtained based on the pixel coordinates of the fire point.

[0011] Based on the elevation data model, the latitude and longitude coordinates and elevation values ​​of the fire point are obtained by querying the geographical distance from the fire point to the thermal imaging camera and the angle of the thermal imaging camera relative to the reference direction, thereby realizing the fire point location.

[0012] Furthermore, constructing the elevation data model includes:

[0013] Using the location of the thermal imaging camera as the center, multiple points are calculated within a preset range with a preset step size. The latitude and longitude coordinates of each point are calculated based on geographical distance and angle, and elevation data is obtained to form a three-dimensional dataset.

[0014] Furthermore, constructing the elevation data model also includes:

[0015] Interpolation is performed on discrete elevation data to obtain continuous elevation surfaces.

[0016] Furthermore, data sets of pixel coordinates and geographic distances from multiple angles are collected, including:

[0017] The thermal imaging camera is rotated horizontally and photographed at fixed angular intervals to obtain the coordinates of the points in the pixel coordinate system and their actual geographical distance from the thermal imaging camera.

[0018] Furthermore, the mapping function set is established by polynomial fitting using the least squares method.

[0019] Further, the query retrieves the latitude and longitude coordinates and elevation values ​​of the fire point, including:

[0020] Based on the geographical distance from the fire point to the thermal imaging camera and the angle of the thermal imaging camera relative to the reference direction, the corresponding latitude and longitude coordinates and elevation values ​​are reversed in the elevation data model.

[0021] Furthermore, the elevation data model is constructed based on digital elevation model data, and the construction of the elevation data model includes defining reference directions and data verification steps.

[0022] Furthermore, it also includes:

[0023] The latitude, longitude, and elevation coordinates of the fire point are visualized on a GIS map.

[0024] Secondly, embodiments of this application provide an electronic device, including: one or more processors;

[0025] A memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are able to implement the steps in the fire point location method described in any of the preceding claims.

[0026] Thirdly, embodiments of this application provide a computer-readable medium storing a computer program, which, when executed by a processor, can implement the steps in the fire point location method described in any of the preceding claims.

[0027] This application achieves accurate conversion of fire points from pixel coordinates to geographic coordinates by combining an elevation data model with a mapping function set, reducing false alarms caused by environmental interference. This application utilizes multi-angle data acquisition and function fitting to improve the accuracy and adaptability of distance calculation, making it particularly suitable for fire point location in complex terrains such as forests and grasslands. Attached Figure Description

[0028] Figure 1 A core flowchart of a fire point localization method based on a thermal imaging camera provided in an embodiment of this application;

[0029] Figure 2 This is a schematic diagram illustrating the construction of an elevation data model centered on the location of a thermal imaging camera, as provided in an embodiment of this application.

[0030] Figure 3 A schematic diagram illustrating the calculation of latitude and longitude coordinates of points in the elevation data model provided in this application embodiment;

[0031] Figure 4 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solutions of this application, exemplary embodiments of this application are described below with reference to the accompanying drawings, including various details of the embodiments of this application to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description. Unless otherwise specified, the various embodiments of this application and the features within those embodiments can be combined with each other.

[0033] As used herein, the term “and / or” includes any and all combinations of one or more of the associated enumerated entries. The terminology used herein is for describing particular embodiments only and is not intended to limit the application. As used herein, the singular forms “a” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated features, integrals, steps, operations, elements, and / or components is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0034] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It should also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and this application, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.

[0035] Traditional fire monitoring methods in complex terrains such as forests and grasslands mainly include manual ground patrols, observation from watchtowers, and aircraft patrols. These methods have problems such as large monitoring blind spots and the inability to achieve continuous monitoring around the clock.

[0036] With technological advancements, infrared thermal imaging technology has been widely applied in fire monitoring due to its ability to operate at night and penetrate smoke. Infrared thermal imaging cameras can detect temperature anomalies caused by fires, enabling preliminary identification of fire points. However, existing infrared thermal imaging technologies still have some limitations in fire point identification and location: First, relying solely on thermal imaging images for fire point identification is susceptible to interference from factors such as ambient temperature fluctuations and solar radiation, leading to a high false alarm rate. Second, the spatial resolution of infrared images is relatively low, making it difficult to achieve precise fire point location. Third, current technologies lack effective three-dimensional visualization methods, making it difficult to intuitively display the spatial distribution of fire points in complex terrain.

[0037] In view of this, this application proposes a fire point location method, device and medium based on a thermal imaging camera, which aims to solve the problems of inaccurate fire point detection and location and lack of three-dimensional visualization in the prior art. By integrating elevation data modeling, pixel coordinate to geographic distance mapping function calculation and GIS visualization, the fire point is located quickly and accurately.

[0038] refer to Figure 1One embodiment of this application proposes a fire point localization method based on a thermal imaging camera, which may specifically include the following steps.

[0039] S1. Construct an elevation data model with the location of the thermal imaging camera as the center; the elevation data model is constructed based on geographic elevation data and is used to obtain the corresponding latitude and longitude coordinates and elevation values ​​according to geographic distance and angle information.

[0040] Furthermore, the elevation data model is built upon Digital Elevation Model (DEM) data, and its construction includes defining reference directions and data verification steps. This ensures the consistency between the elevation data model and real geographic data, further improving positioning accuracy.

[0041] Keep the thermal imaging camera horizontal, within a fixed radius (30 m step size, calculated over a 6000 m range), define 0° as true north, and establish a 360° elevation data model within this range. This allows for the lookup of latitude and longitude information using the geographical distance *r* to the center (the location of the thermal imaging camera) and the offset angle *θ* relative to true north, ensuring comprehensive coverage of the elevation data model. Specifically, this can include the following sub-steps:

[0042] S101. Determine the center coordinates of the elevation data model, referring to... Figure 2 .

[0043] Determine the geographic coordinates of the center of a circle, using the location of the thermal imaging camera as the center. ,in, These are longitude coordinates. These are latitude coordinates.

[0044] S102. Define the reference direction, reference... Figure 2 .

[0045] The 0° direction is clearly defined as due north.

[0046] S103. Calculate the latitude and longitude coordinates of points on the elevation data model, referring to... Figure 3 .

[0047] For any point P on the circle, its coordinates can be calculated using the following formula:

[0048] ;

[0049] ;

[0050] Where r represents the geographical distance from the center of the circle to point P, and θ represents the angle relative to true north. True north is merely a conventionally set reference direction; of course, other directions can also be set as reference directions, and this application does not impose strict limitations on this.

[0051] S104. Set the step size and range, refer to... Figure 2 .

[0052] Calculate points within a range from the center of the circle to 6000 m using a step size of 30 m. The step size and radius can be set according to specific circumstances; this is just an example.

[0053] S105, Traverse the radius and angle, refer to... Figure 2 .

[0054] Starting from r=0, increase by 30 m each time until r=6000 m.

[0055] For each radius r, starting from 0°, iterate through 360° in increments of 1° at fixed angle intervals (the fixed angle intervals can be set according to specific circumstances).

[0056] S106. Obtain elevation data.

[0057] For each calculated latitude and longitude coordinate (x, y), query the DEM data to obtain the corresponding elevation value z.

[0058] S107, Collect data points.

[0059] The obtained (x,y,z) coordinate points are collected to form a three-dimensional dataset.

[0060] S108, Data Interpolation.

[0061] Depending on the accuracy of DEM data, discrete elevation data needs to be interpolated between data points to obtain a continuous elevation surface. This improves the continuity and accuracy of the elevation data model and reduces positioning errors caused by data discreteness.

[0062] S109, Data Visualization.

[0063] Use GIS software or 3D visualization tools to plot the collected data points to visualize the elevation changes of the circle.

[0064] S110. Establish a search model.

[0065] Construct a lookup model that accepts geographical distance r and angle θ as input and outputs the corresponding latitude and longitude coordinates (x, y) and elevation value z.

[0066] S111, Model Validation.

[0067] Verify the accuracy of the elevation data model to ensure that for any given geographical distance r and angle θ, the elevation data model can accurately find the correct latitude and longitude coordinates (x, y) and elevation value z.

[0068] S2. Collect data sets of pixel coordinates and geographic distances from multiple angles.

[0069] Specifically, a certain number of data pairs containing known geographical distance information and corresponding pixel coordinates will be collected. This data will serve as the basis for building an elevation data model. A thermal imaging camera will be used to capture a 360° view of the monitored area, and the data will be divided into 1° segments to obtain coordinate information in the pixel coordinate system. The dataset consists of 360 data pairs, each consisting of the actual geographic distance *r* from the point to the thermal imaging camera. This provides ample training data, ensuring the accuracy and generalization ability of the mapping function.

[0070] S3. Based on the data set, establish a set of mapping functions from pixel coordinates to geographic distance.

[0071] Specifically, for each data pair collected in step S2, a series of inverse fitting functions (i.e., mapping functions) between pixel coordinates and geographic distance are established using known geographic distance information and corresponding pixel coordinates, forming a set of inverse fitting functions (mapping function set). The specific steps are as follows:

[0072] S301, Data Collection.

[0073] Based on the data set obtained in step S2, the geographic distance information and corresponding pixel coordinate pairs are known. This data will serve as the basis for building the model.

[0074] S302. Establish a mathematical model.

[0075] The least squares method is used to fit a function that maps pixel coordinates to geographic distance.

[0076] Let the pixel coordinates be The geographical distance is r. This mapping can be represented by a function of the following form: .

[0077] S303. Select the form of the fitting function.

[0078] We choose a polynomial function as the form of the fitting function; the quadratic polynomial is as follows:

[0079] ;

[0080] S304. Apply the least squares method.

[0081] Using the least squares method, a system of linear equations can be established to solve for the coefficients. , , , , , There are n data points. We can obtain the following matrix equation: Aa = r. Here, A is the design matrix, a is the coefficient vector, and r is the geographic distance vector.

[0082] , , ;

[0083] S305, Solve for the coefficients.

[0084] By solving the above system of linear equations Aa=r

[0085] Finding the inverse of a matrix: ,in It is the transpose of A.

[0086] The value of the coefficient vector a can be obtained.

[0087] S306, Verify the model.

[0088] Use the remaining test data to validate the model's accuracy, ensuring that the model can accurately predict geographic distances from pixel coordinates.

[0089] S4. For the detected fire point, select the corresponding mapping function according to the angle of the thermal imaging camera relative to the reference direction, and obtain the geographical distance from the fire point to the thermal imaging camera based on the pixel coordinates of the fire point.

[0090] Specifically, using the established set of backfit functions (360 sets in total), the corresponding backfit function is selected based on the angle θ through which the thermal imaging camera moves relative to due north, and the geographical distance r from the fire point to the thermal imaging camera is calculated based on the pixel coordinates of the corresponding fire point.

[0091] S5. Based on the elevation data model, the latitude and longitude coordinates and elevation values ​​of the fire point are obtained by querying the geographical distance from the fire point to the thermal imaging camera and the angle of the thermal imaging camera relative to the reference direction, thereby realizing the fire point location.

[0092] Specifically, based on the elevation data model, the latitude, longitude and elevation information of the fire point are obtained by searching for the geographical distance r from the fire point to the thermal imaging camera and the angle θ that the thermal imaging camera has turned relative to due north, based on the geographical distance r from the fire point to the thermal imaging camera obtained in step S4, thus completing the fire point location function.

[0093] A further preferred embodiment of a fire point localization method based on a thermal imaging camera may include:

[0094] S6. Visualize the latitude and longitude coordinates and elevation values ​​of the fire point on a GIS map.

[0095] Specifically, the acquired latitude, longitude, and elevation information is combined with a GIS map to intuitively display the geographical location of fire points in the pixel coordinate system on the GIS map. This can then assist in guiding subsequent fire prevention work.

[0096] Overall, the advantages of this application compared to the prior art include:

[0097] (1) By combining the elevation data model with the mapping function set, the accurate conversion of fire points from pixel coordinates to geographic coordinates was realized, reducing false alarms caused by environmental interference.

[0098] (2) By using multi-angle data acquisition and function fitting, the accuracy and adaptability of distance calculation are improved, which is especially suitable for complex terrains such as forests and grasslands.

[0099] (3) Through GIS visualization, the spatial distribution of fire points can be displayed intuitively, which can assist in fire assessment and decision-making, thereby improving monitoring efficiency.

[0100] Based on the same inventive concept, embodiments of this application also provide an electronic device. Figure 4 This is a structural block diagram of an electronic device provided in an embodiment of this application. Figure 4 As shown in the embodiments of this application, an electronic device includes: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the fire point location methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0101] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0102] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0103] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0104] This application also provides a computer-readable medium. The computer-readable medium stores a computer program, which, when executed by a processor, implements the steps of any of the fire point location methods described in the above embodiments. The computer-readable storage medium can be volatile or non-volatile.

[0105] This application also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes the above-described fire point location method.

[0106] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0107] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0108] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0109] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing the status information of the computer-readable program instructions. These electronic circuits can execute the computer-readable program instructions to implement various aspects of this application.

[0110] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0111] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0112] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0113] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0114] The flowcharts or block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, or computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0115] Exemplary embodiments have been disclosed herein, and while specific terminology has been used, it is used and should be interpreted only in a general illustrative sense and is not intended to be limiting. In some embodiments, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of this application as set forth by the appended claims.

Claims

1. A fire point localization method based on a thermal imaging camera, characterized in that, include: Construct an elevation data model centered on the location of the thermal imaging camera; The elevation data model is constructed based on geographic elevation data and is used to obtain the corresponding latitude and longitude coordinates and elevation values ​​according to geographic distance and angle information. Collect data sets of pixel coordinates and geographic distances from multiple angles; Based on the data set, establish a set of mapping functions from pixel coordinates to geographic distance; For the detected fire point, the corresponding mapping function is selected according to the angle of the thermal imaging camera relative to the reference direction, and the geographical distance from the fire point to the thermal imaging camera is obtained based on the pixel coordinates of the fire point. Based on the elevation data model, the latitude and longitude coordinates and elevation values ​​of the fire point are obtained by querying the geographical distance from the fire point to the thermal imaging camera and the angle of the thermal imaging camera relative to the reference direction, thereby realizing the fire point location.

2. The fire point location method according to claim 1, characterized in that, Constructing the elevation data model includes: Using the location of the thermal imaging camera as the center, multiple points are calculated within a preset range with a preset step size. The latitude and longitude coordinates of each point are calculated based on geographical distance and angle, and elevation data is obtained to form a three-dimensional dataset.

3. The fire point location method according to claim 2, characterized in that, Constructing the elevation data model also includes: Interpolation is performed on discrete elevation data to obtain continuous elevation surfaces.

4. The fire point location method according to claim 1, characterized in that, Collect data sets of pixel coordinates and geographic distances from multiple angles, including: The thermal imaging camera is rotated to capture images of the real scene at fixed angular intervals, obtaining the coordinates of the points in the pixel coordinate system and the actual geographical distance between the coordinates and the thermal imaging camera.

5. The fire point location method according to claim 1, characterized in that, The mapping function set is established by polynomial fitting using the least squares method.

6. The fire point location method according to claim 1, characterized in that, The query retrieves the latitude, longitude, and elevation coordinates of the fire point, including: Based on the geographical distance from the fire point to the thermal imaging camera and the angle of the thermal imaging camera relative to the reference direction, the corresponding latitude and longitude coordinates and elevation values ​​are reversed in the elevation data model.

7. The fire point location method according to claim 1, characterized in that, The elevation data model is constructed based on digital elevation model data, and the construction of the elevation data model includes defining reference directions and data verification steps.

8. The fire point location method according to claim 1, characterized in that, Also includes: The latitude, longitude, and elevation coordinates of the fire point are visualized on a GIS map.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the steps in the fire point location method as described in any one of claims 1 to 8.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it can implement the steps of the fire point location method as described in any one of claims 1 to 8.

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