Indoor three-dimensional nuclear radiation field monitoring method and system based on UWB combat training integrated radiation monitoring algorithm

Abstract

The present application belongs to the technical field of nuclear radiation monitoring, and specifically relates to an indoor three-dimensional nuclear radiation field monitoring method and system based on a UWB war training integrated radiation monitoring algorithm.The method comprises the following steps: obtaining the UWB base station three-dimensional coordinates of an indoor target area, the ranging values between a mobile monitoring terminal and each UWB base station, and the real radiation detection dose rate values, to form initial data for indoor radiation monitoring; processing the initial data by using a UWB war training integrated radiation monitoring algorithm to form indoor three-dimensional radiation dose field data; according to the system working mode, outputting the real dose rate, the virtual dose rate or the fused dose rate, and returning the corresponding dose rate and three-dimensional position information to the mobile monitoring terminal for display.The present application can establish a three-dimensional radiation field in an indoor complex structure scene, measure and characterize the dose rate distribution at different positions in the indoor three-dimensional space, and can be used for real radiation detection, simulation training under the condition of no real radioactive source, and war training integrated radiation monitoring.

Description

Technical Field

[0001] This invention belongs to the field of nuclear radiation monitoring technology, specifically relating to an indoor three-dimensional nuclear radiation field monitoring method and system based on the UWB integrated training and combat radiation monitoring algorithm. Background Technology

[0002] Radiation monitoring is a crucial technical means for nuclear emergency response, radioactive source search, contaminated area assessment, and personnel protection decision-making. Traditional radiation monitoring primarily relies on personnel carrying radiation monitoring instruments into the target area and determining radiation levels based on real-time instrument readings. However, in practical applications, especially in complex structural scenarios such as indoor buildings, underground spaces, laboratories, warehouses, and nuclear emergency training grounds, relying solely on single-point dose rate readings is insufficient to reflect the overall distribution of the radiation field in three-dimensional space and cannot effectively characterize dose changes at different heights, in different room structures, near obstructions, and along complex paths.

[0003] Existing simulation training methods typically generate virtual dose rates by simulating radiation sources, wireless positioning, or computer simulation models, which are then displayed by a simulation terminal. While these methods can reduce the safety risks associated with training with real radiation sources to some extent, they still have the following shortcomings: First, existing methods often focus on two-dimensional planes or single distance mapping, making it difficult to measure and establish dose distribution in indoor three-dimensional scenes; second, existing methods usually separate real monitoring and virtual training, failing to achieve unified output of real and virtual dose rates within the same algorithm chain; third, existing methods lack comprehensive processing of UWB ranging errors, indoor multipath errors, height direction errors, and positioning jitter; fourth, existing methods struggle to establish three-dimensional radiation fields in radiation detection within complex indoor structures, thus hindering radiation detection, training review, and risk area identification in complex indoor environments. Summary of the Invention

[0004] The purpose of this invention is to provide an indoor three-dimensional nuclear radiation field monitoring method and system based on the UWB integrated training and combat radiation monitoring algorithm, so as to solve the shortcomings of existing monitoring technologies.

[0005] This invention can obtain the stable coordinates of a mobile monitoring terminal in an indoor three-dimensional space and map the real radiation dose rate and virtual radiation dose rate to the corresponding three-dimensional spatial position, thereby establishing an indoor three-dimensional radiation field and further measuring the dose of the indoor three-dimensional scene. It can be applied to radiation detection of complex indoor structures, nuclear emergency simulation training and integrated combat training radiation monitoring.

[0006] The indoor three-dimensional radiation field monitoring method based on the UWB integrated training and combat radiation monitoring algorithm provided by this invention includes the following specific steps:

[0007] (1) Acquire initial data for indoor radiation monitoring: This includes acquiring the three-dimensional coordinates of multiple UWB base stations within the indoor target area, the distance measurement values ​​between the mobile monitoring terminal and each UWB base station, and the actual radiation dose rate values ​​collected by the mobile monitoring terminal, which constitute the initial data for indoor radiation monitoring.

[0008] (2) Using the UWB-based integrated training and combat radiation monitoring algorithm, the initial data of the indoor radiation monitoring is processed to obtain the stable position coordinates of the mobile monitoring terminal in the indoor three-dimensional space, and the virtual dose rate of the virtual radiation source at the location is calculated based on the stable position coordinates.

[0009] Based on the system's operating mode, the current effective dose rate is determined from the actual radiation dose rate and the virtual dose rate.

[0010] (3) Constructing an indoor three-dimensional radiation field: Constructing indoor three-dimensional radiation field data based on the stable position coordinates and the current effective dose rate;

[0011] (4) Finally, the current effective dose rate, system working mode and stable position coordinates are transmitted back to the mobile monitoring terminal.

[0012] Furthermore, the system's operating modes include a real detection mode, a virtual training mode, and a fusion monitoring mode;

[0013] In real detection mode, the current effective dose rate is the true radiation dose rate;

[0014] In virtual training mode, the current effective dose rate is the virtual dose rate;

[0015] In fusion monitoring mode, the current effective dose rate is the weighted fusion value of the true radiation dose rate and the virtual dose rate.

[0016] Furthermore, the UWB-based integrated combat and training radiation monitoring algorithm includes:

[0017] The validity of the ranging values ​​of each UWB base station is determined;

[0018] Static offset correction is applied to the effective ranging values;

[0019] The corrected distance values ​​are subjected to peak suppression, median filtering, and exponentially weighted moving average filtering.

[0020] The initial value for least-squares three-dimensional positioning is solved based on the filtered ranging value and the three-dimensional coordinates of the UWB base station.

[0021] The initial three-dimensional positioning values ​​are refined using adaptive vector projection iteration.

[0022] A soft constraint along the z-axis is introduced during the iteration process to obtain refined coordinates for 3D positioning.

[0023] The stable position is extracted from the refined three-dimensional positioning coordinates;

[0024] Calculate the virtual dose rate based on the stable position coordinates;

[0025] The current effective dose rate is determined based on the real detection mode and the virtual training mode.

[0026] Furthermore, the static bias correction is performed in the following manner:

[0027]

[0028] in, The corrected ranging value for the i-th UWB base station. This represents the original ranging value of the i-th UWB base station. This is the ranging calibration offset for the i-th UWB base station.

[0029] Furthermore, the exponentially weighted moving average filter is implemented in the following manner:

[0030]

[0031] in, Let be the filtered ranging value of the i-th UWB base station at time k. The distance measurement value of the i-th UWB base station at time k is obtained after median filtering. These are the filter coefficients.

[0032] Furthermore, the solution of the initial value for least squares three-dimensional positioning includes: taking a UWB base station as a reference base station, establishing a three-dimensional spherical intersection equation based on the coordinates of multiple UWB base stations and the corresponding ranging values, transforming the nonlinear ranging equation into a system of linear equations, and solving for the initial value for three-dimensional positioning of the mobile monitoring terminal.

[0033] Furthermore, the adaptive vector projection iterative refinement includes:

[0034] The predicted distance is calculated based on the distance between the current estimated location and the i-th UWB base station;

[0035] Calculate the distance residual based on the difference between the predicted distance and the filtered distance;

[0036] The weighted update amount is constructed based on the spatial direction vectors pointing to each UWB base station from the current estimated location and the distance residual;

[0037] The current estimated position is iteratively corrected based on the weighted update amount;

[0038] When the amount of iterative updates is less than a preset threshold or reaches a preset number of iterations, output the refined coordinates of the three-dimensional positioning.

[0039] Furthermore, the z-axis soft constraint includes: setting a prior z-axis height during the three-dimensional positioning iteration process; and constraining the z-axis update amount based on the difference between the current estimated height and the prior z-axis height to reduce positioning fluctuations in the height direction during indoor UWB three-dimensional positioning.

[0040] Furthermore, the stable position extraction of the refined three-dimensional positioning coordinates employs a split-axis low-pass filtering method, including:

[0041]

[0042]

[0043]

[0044] in, , , To stabilize the position coordinates, x, y, and z are the current refined 3D positioning coordinates. , , The stable position coordinates of the previous moment. These are the planar direction filtering coefficients. These are the height-direction filtering coefficients.

[0045] Furthermore, the virtual dose rate is calculated in the following manner.

[0046]

[0047] in, For virtual dose rate, The background dose rate, Let the intensity of the j-th virtual radiation source be... Let be the attenuation coefficient corresponding to the j-th virtual radiation source. Let be the three-dimensional distance between the stable position coordinates of the mobile monitoring terminal and the j-th virtual radiation source, be the minimum distance protection value, and m be the number of virtual radiation sources.

[0048] Furthermore, constructing indoor three-dimensional radiation field data based on the stable position coordinates and the current effective dose rate includes: dividing the indoor target area into three-dimensional spatial coordinate regions; mapping the stable position coordinates and the current effective dose rate obtained by the mobile monitoring terminal at different sampling positions to the corresponding three-dimensional spatial positions; forming an indoor three-dimensional radiation field based on the dose rate data at multiple sampling positions; the indoor three-dimensional radiation field is used to characterize the dose rate distribution at different heights, different planar positions, and different spatial regions in a complex indoor structural scene.

[0049] This invention also provides an indoor three-dimensional radiation field monitoring system based on a UWB integrated combat and training radiation monitoring algorithm, comprising:

[0050] The indoor radiation monitoring initial data acquisition module is used to acquire the three-dimensional coordinates of the UWB base station, the distance between the mobile monitoring terminal and each UWB base station, and the actual radiation dose rate value, which constitute the indoor radiation monitoring initial data.

[0051] Based on the UWB integrated training and combat radiation monitoring algorithm module, it is used to perform ranging correction, anomaly suppression, distance filtering, three-dimensional positioning calculation, stable position extraction, virtual dose rate calculation and working mode determination on the initial data of indoor radiation monitoring, and output the stable position coordinates and the current effective dose rate.

[0052] The indoor three-dimensional radiation field construction module is used to construct indoor three-dimensional radiation field data based on stable position coordinates and the current effective dose rate; the closed-loop feedback module is used to transmit the current effective dose rate, system operating mode, and stable position coordinates back to the mobile monitoring terminal for display.

[0053] The present invention also provides a computer-readable storage medium for storing one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform any of the methods described above.

[0054] The present invention also provides a computing device comprising: one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for performing any of the methods described above.

[0055] This invention is applied to radiation detection, nuclear emergency simulation training, radioactive source search, contaminated area assessment, and integrated combat and training monitoring tasks in complex indoor structural scenarios. Compared with traditional methods that only display single-point dose rates, this invention can bind dose rates to indoor three-dimensional coordinates to form a three-dimensional radiation field that can be used for analysis, display, and review. Compared with simulation systems that only perform virtual training, this invention can switch between real detection mode and virtual training mode, achieving the integration of real monitoring, simulation training, and real-virtual fusion verification. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the method flow of the present invention. Detailed Implementation

[0057] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0058] This invention provides an indoor three-dimensional radiation field monitoring method based on the UWB integrated training and combat radiation monitoring algorithm. The core concept of the invention is to obtain the stable coordinates of the mobile monitoring terminal in the indoor space through UWB three-dimensional positioning, obtain the dose rate corresponding to the coordinates through real radiation detection or virtual radiation source model, and bind the dose rate with the three-dimensional coordinates to establish an indoor three-dimensional radiation field.

[0059] like Figure 1 As shown, the specific steps include:

[0060] Step 1: Obtain the three-dimensional coordinates of UWB base stations in the indoor target area, the distance measurements between the mobile monitoring terminal and each UWB base station, and the actual radiation dose rate value to form the initial data for indoor radiation monitoring. Specifically, multiple UWB base stations are set up in the indoor target area, each with known three-dimensional coordinates. The mobile monitoring terminal obtains the distance measurements between itself and each UWB base station during its movement, and simultaneously obtains the actual radiation dose rate value.

[0061] Step 2: The initial indoor radiation monitoring data is preprocessed using a UWB-based integrated training and combat radiation monitoring algorithm. Specifically, the validity of the ranging values ​​from each UWB base station is assessed, and invalid ranging values ​​are removed. Static offset correction is applied to the valid ranging values. Peak suppression is performed on the corrected ranging values. Median filtering is applied to the peak-suppressed ranging values. Finally, exponentially weighted moving average filtering is applied to the median-filtered ranging values ​​to obtain the filtered ranging values.

[0062] Step 3: Solve for the initial values ​​of 3D positioning based on the filtered ranging values ​​and the 3D coordinates of the UWB base stations. Specifically, using one UWB base station as a reference base station, the distance constraints between the mobile monitoring terminal and each UWB base station are established as spatial spherical intersection equations, and the initial values ​​of the 3D coordinates of the mobile monitoring terminal are obtained through the least squares method.

[0063] Step 4 involves adaptive vector projection iterative refinement of the initial 3D positioning values. Specifically, a weighted update is constructed based on the predicted distance between the current estimated location and each UWB base station, the actual filtered ranging value, the distance residual, and the direction vector. The position of the mobile monitoring terminal is then iteratively corrected according to a preset step size. During the iteration process, base stations that are closer and have a greater geometric contribution are assigned corresponding weights, while base stations with abnormal residuals have their weights reduced to minimize the impact of indoor multipath, occlusion, and abnormal ranging on the 3D positioning results.

[0064] Step 5 introduces a soft constraint on the z-axis during the adaptive vector projection iteration process. Specifically, a prior z-axis height and an allowable height range are set, and the z-axis update is constrained based on the deviation between the current estimated height and the prior z-axis height. This method reduces the impact of height instability in indoor UWB 3D positioning on subsequent dose calculations.

[0065] Step 6: Extract stable positions from the refined 3D positioning coordinates. Specifically, different low-pass filter coefficients are set for the x, y, and z directions to smooth the continuous positioning results; when a jump in the continuous positioning results exceeds a threshold, jump gating is performed; and the stable position coordinates of the motion monitoring terminal are output.

[0066] Step 7: Calculate the virtual dose rate based on the stable location coordinates. Specifically, one or more virtual radiation sources are set up within the indoor target area. Each virtual radiation source includes a source name, activation status, three-dimensional coordinates, source strength, and attenuation coefficient. Based on the three-dimensional distance between the stable location coordinates of the mobile monitoring terminal and the virtual radiation source, the virtual dose rate is calculated using a virtual dose rate model that includes the background dose rate, a distance-squared inverse term, and an exponential attenuation term.

[0067] Step 8: Determine the current effective dose rate based on the system's operating mode. Specifically, when the system is in real detection mode, the current effective dose rate is the real radiation dose rate; when the system is in virtual training mode, the current effective dose rate is the virtual dose rate. The system automatically controls the virtual radiation source's activation status according to the operating mode; in real detection mode, the virtual radiation source is disabled, and in virtual training mode, it is enabled.

[0068] Step 9: Map the stable position coordinates and the current effective dose rate to the indoor three-dimensional spatial coordinate region to form indoor three-dimensional radiation field data. Specifically, the mobile monitoring terminal samples at different locations indoors, with each sampling point corresponding to stable position coordinates and the current effective dose rate; the system forms an indoor three-dimensional radiation field based on multiple sampling points to describe the dose rate distribution at different spatial locations within the complex indoor structure.

[0069] Step 10: Construct feedback data from the current effective dose rate, system operating mode, stable location coordinates, virtual dose rate, actual dose rate, virtual radiation source status, and distance to the nearest virtual radiation source, and transmit it back to the mobile monitoring terminal via wireless communication. Upon receiving the feedback data, the mobile monitoring terminal displays the current effective dose rate and system status; if no feedback data is received, the mobile monitoring terminal displays the actual radiation dose rate.

[0070] Step 11: Store the indoor radiation monitoring process data. Specifically, the system stores the sampling time, stable location coordinates, actual radiation dose rate, virtual dose rate, current effective dose rate, system operating mode, UWB ranging value, positioning residual, positioning root mean square error, virtual radiation source parameters, and feedback status. This data will be used for subsequent indoor three-dimensional radiation field analysis, training review, and analysis of the impact of positioning errors on the dose rate.

[0071] Example:

[0072] In this embodiment, four UWB base stations are deployed within the indoor target area, and three-dimensional coordinates are set for each base station. A mobile monitoring terminal carrying a radiation detection module and a UWB tag moves within the indoor space. The mobile monitoring terminal periodically acquires the actual radiation dose rate and the distance values ​​between itself and each UWB base station, and sends the data to a computing device. The computing device uses a UWB-based integrated training and combat radiation monitoring algorithm to perform static bias correction, peak suppression, median filtering, and exponentially weighted moving average filtering on the distance values. Then, the least squares method is used to obtain the initial three-dimensional positioning value, and adaptive vector projection iteration and z-axis soft constraints are used to obtain the refined three-dimensional positioning coordinates. Finally, the stable position coordinates are obtained through stable position extraction.

[0073] In this embodiment, a virtual radiation source is set up, which includes three-dimensional coordinates, source strength, and attenuation coefficient. The computing device calculates the virtual dose rate based on the three-dimensional distance between the stable position coordinates of the mobile monitoring terminal and the virtual radiation source. In real detection mode, the system outputs the real radiation dose rate; in virtual training mode, the system outputs the virtual dose rate; and in fusion monitoring mode, the system outputs a weighted fusion value of the real radiation dose rate and the virtual dose rate.

[0074] In this embodiment, the mobile monitoring terminal samples at different heights and planar positions indoors. The computing device binds the stable position coordinates of each sampling point with the current effective dose rate to form indoor three-dimensional radiation field data. The three-dimensional radiation field can describe the dose rate changes at different heights, in different spatial locations, and in complex structural areas indoors, and can be used for radiation detection in complex indoor structures, training route review, and virtual radiation source search training.

[0075] A computer-readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform an indoor three-dimensional radiation field monitoring method based on a UWB integrated training and combat radiation monitoring algorithm.

[0076] A computing device includes one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include a method for performing an indoor three-dimensional radiation field monitoring method based on a UWB integrated training and combat radiation monitoring algorithm.

[0077] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media containing computer-usable program code.

[0078] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of the invention. It will 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 program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0079] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0080] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

Claims

1. A method for monitoring indoor three-dimensional radiation fields based on a UWB integrated training and combat radiation monitoring algorithm, characterized in that, The specific steps are as follows: (1) Acquire initial data for indoor radiation monitoring: This includes acquiring the three-dimensional coordinates of multiple UWB base stations within the indoor target area, the distance measurement values ​​between the mobile monitoring terminal and each UWB base station, and the actual radiation dose rate values ​​collected by the mobile monitoring terminal, which constitute the initial data for indoor radiation monitoring. (2) Using the UWB-based integrated training and combat radiation monitoring algorithm, the initial data of the indoor radiation monitoring is processed to obtain the stable position coordinates of the mobile monitoring terminal in the indoor three-dimensional space, and the virtual dose rate of the virtual radiation source at the location is calculated based on the stable position coordinates. Based on the system's operating mode, the current effective dose rate is determined from the actual radiation dose rate and the virtual dose rate. (3) Constructing an indoor three-dimensional radiation field: Constructing indoor three-dimensional radiation field data based on the stable position coordinates and the current effective dose rate; (4) Finally, the current effective dose rate, system working mode and stable position coordinates are transmitted back to the mobile monitoring terminal.

2. The indoor three-dimensional radiation field monitoring method according to claim 1, characterized in that, The system's operating modes include real detection mode, virtual training mode, and fusion monitoring mode; In real detection mode, the current effective dose rate is the true radiation dose rate; In virtual training mode, the current effective dose rate is the virtual dose rate; In fusion monitoring mode, the current effective dose rate is the weighted fusion value of the true radiation dose rate and the virtual dose rate.

3. The indoor three-dimensional radiation field monitoring method according to claim 1, characterized in that, The UWB-based integrated combat and training radiation monitoring algorithm includes: (1) Determine the validity of the ranging values ​​of each UWB base station; (2) Perform static offset correction on the effective ranging values; (3) Apply peak suppression, median filtering and exponential weighted moving average filtering to the corrected distance measurement values; (4) Solve for the initial value of least squares three-dimensional positioning based on the filtered ranging value and the three-dimensional coordinates of the UWB base station; (5) Perform adaptive vector projection iterative refinement on the initial three-dimensional positioning values; (6) Introduce soft constraints along the z-axis during the iteration process to obtain refined coordinates for three-dimensional positioning; (7) Extract the stable position from the refined three-dimensional positioning coordinates; (8) Calculate the virtual dose rate based on the stable position coordinates; (9) Determine the current effective dose rate based on the real detection mode and the virtual training mode.

4. The indoor three-dimensional radiation field monitoring method according to claim 3, characterized in that: The static bias correction is performed in the following manner: in, The corrected ranging value for the i-th UWB base station. This represents the original ranging value of the i-th UWB base station. The ranging calibration offset for the i-th UWB base station; The exponentially weighted moving average filter is used in the following way: in, Let be the filtered ranging value of the i-th UWB base station at time k. The distance measurement value of the i-th UWB base station at time k is obtained after median filtering. These are the filter coefficients; The solution for the initial value of the least squares three-dimensional positioning includes: using a UWB base station as a reference base station, establishing a three-dimensional spherical intersection equation based on the coordinates of multiple UWB base stations and the corresponding ranging values, transforming the nonlinear ranging equation into a system of linear equations, and solving for the initial value of the three-dimensional positioning of the mobile monitoring terminal.

5. The indoor three-dimensional radiation field monitoring method according to claim 3 is characterized in that, The adaptive vector projection iterative refinement includes: (1) Calculate the predicted distance based on the distance between the current estimated location and the i-th UWB base station; (2) Calculate the distance residual based on the difference between the predicted distance and the filtered distance; (3) Construct a weighted update quantity based on the spatial direction vectors pointing to each UWB base station from the current estimated location and the distance residual; (4) Iteratively correct the current estimated position based on the weighted update amount; (5) When the iteration update amount is less than the preset threshold or the preset number of iterations is reached, output the three-dimensional positioning refinement coordinates.

6. The indoor three-dimensional radiation field monitoring method according to claim 3, characterized in that, The z-axis soft constraint includes: (1) Set the prior height of the z-axis during the three-dimensional positioning iteration process; (2) Constrain the z-axis update based on the difference between the current estimated height and the prior z-axis height to reduce positioning fluctuations in the height direction during indoor UWB 3D positioning; The stable position extraction of the refined 3D positioning coordinates employs a split-axis low-pass filtering method, including: in, , , To stabilize the position coordinates, x, y, and z are the current refined 3D positioning coordinates. , , The stable position coordinates of the previous moment. These are the planar direction filtering coefficients. These are the height-direction filtering coefficients.

7. The indoor three-dimensional radiation field monitoring method according to claim 1, characterized in that, The virtual dose rate is calculated in the following manner: in, For virtual dose rate, The background dose rate, Let the intensity of the j-th virtual radiation source be... Let be the attenuation coefficient corresponding to the j-th virtual radiation source. Let the three-dimensional distance between the stable position coordinates of the mobile monitoring terminal and the j-th virtual radiation source be denoted as . is the minimum distance protection value, and m is the number of virtual radiation sources.

8. The indoor three-dimensional radiation field monitoring method according to claim 1, characterized in that, The indoor three-dimensional radiation field data constructed based on the stable location coordinates and the current effective dose rate includes: (1) Divide the indoor target area into a three-dimensional spatial coordinate region; map the stable position coordinates and current effective dose rate obtained by the mobile monitoring terminal at different sampling positions to the corresponding three-dimensional spatial positions; (2) A three-dimensional indoor radiation field is formed based on dose rate data from multiple sampling locations; (3) The indoor three-dimensional radiation field is used to characterize the dose rate distribution at different heights, different planar positions and different spatial regions in a complex indoor structural scene.

9. An indoor three-dimensional radiation field monitoring system based on the indoor three-dimensional radiation field monitoring method according to any one of claims 1-8, characterized in that, include: The indoor radiation monitoring initial data acquisition module is used to acquire the three-dimensional coordinates of the UWB base station, the distance between the mobile monitoring terminal and each UWB base station, and the actual radiation dose rate value, which constitute the indoor radiation monitoring initial data. Based on the UWB integrated training and combat radiation monitoring algorithm module, it is used to perform ranging correction, anomaly suppression, distance filtering, three-dimensional positioning calculation, stable position extraction, virtual dose rate calculation and working mode determination on the initial data of indoor radiation monitoring, and output the stable position coordinates and the current effective dose rate. The indoor three-dimensional radiation field construction module is used to construct indoor three-dimensional radiation field data based on stable location coordinates and the current effective dose rate. The closed-loop feedback module is used to transmit the current effective dose rate, system operating mode, and stable position coordinates back to the mobile monitoring terminal for display.

10. A computer-readable storage medium storing one or more programs, and a computing device loading the readable storage medium; wherein: The one or more programs include instructions that, when executed by a computing device, cause the computing device to perform the indoor three-dimensional radiation field monitoring method according to any one of claims 1-8; The computing device includes: one or more processors, one or more memories, and the one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors.

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