308 results about "Terrain elevation" patented technology

The invention provides a drainage basin digital twinning construction method and system based on multi-source data fusion. The method is applied to the technical field of drainage basin digital twinning construction, and comprises the following steps: acquiring water level monitoring data, surface flood routing path data, weather forecast rainfall data and terrain slope change data; rainfall and topographic slope data are fused to generate a runoff distribution relation, and a high-risk area is identified in combination with a water level sudden change amplitude. A digital twinning preliminary framework is established, and related characteristic parameters are generated by utilizing reverse feedback of a flood path and water level data. And inputting meteorological data, constructing a twinborn model based on the boundary condition of the catchment area, and simulating flood direction abnormity and flooding early warning signals. And according to the early warning space-time distribution and the terrain elevation data, generating emergency schemes such as flood dividing gate scheduling and flood storage and detention area starting, and realizing risk hierarchical management and control. According to the technical scheme provided by the invention, the flood inundation prediction precision and the emergency response efficiency are improved, and precise decision support is provided for flood control of a drainage basin.

The invention provides a GNSS-RTK-based topographic mapping method and system, and the method comprises the steps: obtaining multi-source positioning signal data in a target region, the multi-source positioning signal data comprising a satellite original observation value, a receiver antenna phase center deviation parameter, and real-time dynamic differential correction information; performing multi-path interference suppression processing on the multi-source positioning signal data to generate a phase observation sequence after interference suppression; inputting the phase observation sequence after interference suppression into a topographic feature calculation model, and extracting topographic elevation change feature parameters of the target area; performing spatial fusion processing based on the terrain elevation change characteristic parameters and reference elevation parameters in a preset terrain database to generate three-dimensional terrain curved surface data of the target area; and dynamically adjusting the topographic map updating frequency according to the difference degree between the three-dimensional topographic surface data and the historical topographic surveying and mapping result, and outputting a real-time topographic surveying and mapping result. According to the invention, precision, real-time performance and resource efficiency can be considered in complex terrain environment application.

The invention relates to the technical field of geological disaster detection, in particular to a geological disaster detection method and monitoring system based on unmanned aerial vehicle scanning. Comprising the following steps: S1, configuring an unmanned aerial vehicle-mounted tilt camera, a multispectral laser radar and a high-precision positioning module, planning a route, carrying out multi-angle scanning on a target area, and obtaining earth surface three-dimensional point cloud data, a multispectral image and terrain elevation information; s2, preprocessing the collected original image data, including point cloud denoising, image distortion correction and multi-source data registration, and generating a high-resolution live-action model fused with three-dimensional geographic information data; s3, extracting various data based on the live-action three-dimensional model to construct a geological disaster hidden danger analysis model, calculating a risk index through multi-factor weighted fusion, training a transfer learning model in combination with historical disaster data, and outputting a hidden danger type and probability; according to the invention, the geological disaster type can be analyzed based on the geological condition and the targeted processing strategy can be specified.

The invention provides a hydraulic engineering information management method and system based on big data. The method comprises the following steps: firstly, uploading flood flow velocity dynamic data, terrain elevation data and spectral feature data to a cloud server, then carrying out multi-dimensional superposition on the flood flow velocity dynamic data, associating with a historical inundation path, and generating a superposition association result; constructing a three-dimensional geographic model based on terrain elevation data and spectral feature data, generating a spatial superposition map according to boundary features of a water body and a terrain abrupt change area and a flood routing path, performing position association with a material reserve position, and performing dynamic priority ranking according to a submerging probability gradient, and finally, according to the resource scheduling instruction sequence, correcting the flight path of the unmanned aerial vehicle cluster and the data acquisition area to form a closed-loop feedback mechanism. According to the technical scheme provided by the invention, the accuracy and timeliness of real-time data updating are ensured.

The invention discloses a photovoltaic power station distributed construction management method and system based on load analysis, and the method comprises the steps: outputting a dynamic load intensity thermodynamic diagram according to the terrain elevation data, meteorological historical data and assembly mechanical parameters of a photovoltaic power station planning region; based on the dynamic load strength thermodynamic diagram, generating a construction zoning scheme for wind pressure resistance optimization; outputting a conflict-free construction resource allocation matrix according to the construction partitioning scheme; on the basis of the construction resource allocation matrix, construction parameters are dynamically corrected by adopting an adaptive particle swarm optimization algorithm, and an anti-deformation construction instruction set is generated; and driving the construction machinery to execute operation according to the anti-deformation construction instruction set, and iteratively updating the global load distribution map by using the reinforcement learning model to form a closed-loop construction management link. By utilizing the embodiment of the invention, the balance of construction precision and efficiency in a complex environment can be realized by fusing multi-source data, optimizing partition planning, intelligently scheduling equipment and controlling closed-loop quality.

The invention relates to the technical field of solar irradiance prediction, and discloses a solar irradiance prediction method and system based on data fusion, and the method comprises the steps: obtaining a cloud layer gray image, a wind speed vector, a terrain elevation, a slope inclination angle, a solar azimuth angle and an elevation angle, calculating the movement speed and direction of a cloud layer based on the cloud layer image and the wind speed vector, and obtaining a prediction result. Calculating a shielding path in combination with a terrain elevation and a sun position; generating a terrain shielding influence coefficient matrix; fusing a gradient and shielding data to generate a dynamic effect graph; performing cloud-ground shielding analysis based on the dynamic effect graph and a cloud trajectory to obtain cloud-ground coupling influence distribution; using a random forest algorithm to fuse the coupling distribution and the shielding coefficient to calculate an initial irradiance probability, and forming a preliminary prediction result; and inputting the time sequence prediction model, the cloud trajectory and the shielding coefficient into a trained time sequence prediction network, and outputting an optimization result. According to the method, prediction requirements under complex terrains and rapid weather changes can be met.

The invention provides a desert photovoltaic sand damage dynamic monitoring method and system based on an unmanned aerial vehicle, and the method comprises the steps: obtaining the flying dust data of a photovoltaic power station region, generating an initial data set, and enabling the flying dust data to be collected through a multi-mode sensor carried by the unmanned aerial vehicle; performing multi-modal data fusion processing on the initial data set to obtain a dust feature matrix, the dust feature matrix being used for representing dust reflectivity, terrain elevation and wind speed correlation features; calculating migration probability distribution of the flying dust particles based on the sand and dust characteristic matrix, wherein the migration probability distribution is used for representing spatio-temporal evolution laws of the particles with different particle sizes; a three-dimensional dynamic sand and dust concentration field model is generated according to the migration probability distribution, a sand damage dynamic monitoring result is output based on the three-dimensional dynamic sand and dust concentration field model, and the sand damage dynamic monitoring result comprises deposition density distribution and an erosion risk area. By adopting the method, the photovoltaic sand damage of the desert can be accurately and dynamically monitored with high timeliness.

The invention discloses a flood detention area emergency evacuation early warning method based on environmental perception and intelligent analysis, and relates to the technical field of flood control and disaster mitigation, and the method comprises the steps: collecting the original data of a flood detention area site, and forming a monitoring array; a monitoring array is divided into a plurality of monitoring units according to geographic grids, a rainfall permeation model is established according to rainfall data and soil humidity data, a surface runoff field is constructed in combination with terrain elevation data, and the confluence direction of the runoff field is calibrated through water level data; based on a rainfall penetration model and a surface runoff field, generating a flood detention area inundation evolution sequence, segmenting into an inundation grade map according to a time step length, planning a flood detention area emergency evacuation path, matching with a road network in a geographic information system, generating an optimal evacuation path, and issuing graded early warning information to an early warning area. And sending a withdrawal instruction to residents in the flood detention area through the emergency broadcasting system. According to the invention, by establishing a partition early warning mechanism and a differential early warning strategy, accurate delivery and efficient transmission of early warning information are realized.

The invention relates to the technical field of wind energy resource evaluation, in particular to a method and a system for calculating a hydrodynamics wind field numerical value based on high-precision landform, and the method comprises the steps: generating a three-dimensional unstructured grid for CFD wind field simulation based on high-precision landform data; analyzing an atmospheric boundary layer structure, and establishing a turbulence calculation model; according to the turbulence calculation model, the influence of atmospheric stability on the mountain flowing wind acceleration factor is researched, and a mountain flowing model is developed; performing CFD wind field simulation according to the three-dimensional unstructured grid and the mountain flow model, and correcting parameters of the mountain flow model; a refined grid is made through terrain elevation data; and according to the refined grid, driving the corrected mountain flow model to carry out numerical simulation, and carrying out wind power plant wind resource evaluation. Through the method, the complex characteristics of the wind field can be reflected more comprehensively, the precision and the calculation efficiency of wind resource evaluation are remarkably improved, and the efficiency and the accuracy of numerical simulation of the complex terrain wind field are improved.

The invention provides a digital twin model correction method and system based on machine vision. The method comprises the steps that a comprehensive data set is constructed by collecting sounding data, tidal flow velocity data and unmanned aerial vehicle images, wave disturbance deviation and water surface reflection distortion are eliminated based on geometric feature matching, and a dynamic compensation coefficient is generated in combination with tidal parameters; after time deviation of sounding data is corrected, a dynamic incidence relation between terrain elevation and sediment migration rate is calculated, a digital twinborn model fusing sedimentary layer thickness distribution and tidal flow velocity driven erosion boundary prediction is established, and a visual terrain curved surface is generated; through reverse verification of real-time sediment accumulation characteristics and terrain curved surfaces, migration rate weight parameters are adjusted in a self-adaptive mode, and dynamic optimization of the model is achieved. High-precision dynamic coupling simulation of sea area terrain evolution and sediment migration is achieved, the real-time performance and reliability of island surface change prediction are improved, and coastal zone safety and economic collaborative decision making is supported.

The invention relates to the technical field of information, and mainly aims to guarantee the communication continuity and data integrity of villages in remote mountainous areas. The invention provides a multidirectional communication data forwarding method and system, and the method comprises the steps: obtaining terrain elevation data and mountain surface reflection characteristics, constructing a three-dimensional terrain simulation environment, calculating an initial visible range between communication nodes, and obtaining a preliminary signal propagation interference distribution diagram; obtaining signal time difference data of each path in the preliminary forwarding path scheme, and generating an optimized forwarding path set; monitoring the distribution change of communication nodes of the forwarding path set in real time, continuously monitoring the change trend of signal propagation interference, determining signal loss rate data in a path execution process, and generating a stable communication transmission channel; according to a stable communication transmission channel, a signal time difference change trend in a path switching process is analyzed, and a switching time interval, a signal strength threshold and a node load balancing coefficient of path switching are determined.

The invention provides a rainfall data processing method and device based on multi-source data fusion, and the method comprises the steps: inputting multi-satellite fusion remote sensing rainfall observation data, terrain elevation data and latitude and longitude data of a target region at a target time interval into a rainfall data downscaling model, carrying out feature fusion, channel attention enhancement and space attention enhancement processing on the model, and outputting downscaling image data of which the resolution is higher than that of remote sensing rainfall observation data; and correcting the downscaling image data according to the site rainfall observation data corresponding to the plurality of observation sites in the target area at the target time interval to obtain target rainfall observation data of the target area at the target time interval. According to the method, the capturing capability and the multi-modal fusion capability of the model for rainfall distribution information in remote sensing data can be improved, the capturing capability of the model for complex terrains and rainfall characteristics can be improved, and then the expression precision and the application reliability of the rainfall distribution information in the generated high-resolution image can be improved.

The invention discloses an unmanned aerial vehicle target tracking and intelligent route planning method based on YOLO and DSM, and the method comprises the steps: enabling an unmanned aerial vehicle to collect video streaming, thermal imaging and distance information in real time through a multi-modal sensor, fusing the multi-modal data through Kalman filtering, detecting a target through a YOLOv11 model, and outputting the position, category and confidence information of the target; a DeepSORT algorithm is adopted to continuously track a target, Kalman filtering is combined to predict a target motion trajectory, and a Hungary algorithm is adopted to realize matching of target detection and a tracking trajectory, so that stable tracking in a complex environment is ensured; the flight path of the unmanned aerial vehicle is planned by using terrain elevation information provided by the DSM and combining with an improved A * algorithm, so that the unmanned aerial vehicle is ensured to avoid obstacles and keep continuous tracking of a target in a complex terrain environment; through a reinforcement learning algorithm, the unmanned aerial vehicle can dynamically adjust the route planning according to the motion state of the target and the environment change, and it is ensured that the system can automatically re-plan the route when the target is lost or the environment obstacle is newly added.

The invention relates to the technical field of surveying and mapping data processing, and discloses a surveying and mapping data processing method based on cloud computing, and the method comprises the steps: obtaining topographic elevation, topographic slope and environmental parameters, carrying out the multi-source fusion and feature extraction based on the data, obtaining a preliminary feature set, carrying out the dynamic correction and integrity verification of the preliminary feature set, and obtaining a final feature set; generating a correction feature set; the method comprises the following steps: obtaining an optimized feature set through residual analysis, dividing high-frequency feature cache, constructing a partition feature set, carrying out synchronization verification on partition data, obtaining a consistency feature set, executing multi-thread integration, forming a global integration feature set, completing abnormal region reconstruction and optimization, generating a high-precision feature set, and finally, carrying out parallel task decomposition and accelerated integration to obtain a high-precision feature set. And outputting high-precision surveying and mapping data. The method solves the problem that the scheduling precision is limited under multi-source complex data.

The invention relates to the technical field of low-altitude flight path planning, in particular to a low-altitude flight path automatic generation method and system, and the method comprises the following steps: S1, synchronously obtaining original wind field distribution data and original terrain elevation data of a flight airspace; s2, performing wind shear strength analysis on the original wind field distribution data; meanwhile, carrying out obstacle contour recognition on the original terrain elevation data to generate an obstacle basic coordinate set; s3, calculating a real-time risk coefficient of each obstacle; s4, executing iterative calculation to generate an initial obstacle avoidance path point sequence; and S5, under the condition that the minimum safety height constraint set based on task requirements is maintained, compressing the path points in the vertical direction to generate a final path instruction set. According to the method, wind shear analysis, obstacle risk assessment and energy consumption constraint path optimization are fused, so that automatic generation of the low-altitude flight path suitable for a dynamic complex environment is realized, and the safety and the performability of the path are improved.

The invention relates to the technical field of unmanned aerial vehicle path planning, in particular to an unmanned aerial vehicle automatic navigation method and system for power transmission line inspection. Comprising the steps of collecting terrain elevation data and a wind speed fluctuation signal, generating a line corridor boundary elevation distribution diagram, analyzing the influence of a terrain gradient on a conductor sag, and determining a curvature limitation adjustment demand; re-planning the flight path in combination with the obstacle position information, and generating a detection path sequence; calculating a height abrupt change value and an attitude angle deviation value, judging whether an acceleration impact suppression requirement exists or not, and generating an inspection risk score of the vegetation invasion area; determining a cross span distance risk quantitative index, and generating a flight control instruction sequence; and verifying whether the path meets a boundary integrity standard, and generating an automatic navigation path sequence. According to the method, the problems of instability, insufficient coverage and poor safety of an unmanned aerial vehicle routing inspection path under a complex terrain condition are solved, and stable, continuous and efficient automatic generation of the power transmission line routing inspection path is realized.

A design method of a trust region satellite-borne dual-base interference SAR system is provided, relating to the field of radar measurement. Firstly, error sources of the interference SAR system are classified and analyzed, phase errors caused by image decoherence are calculated according to wave positions, and an analytical expression of baseline-related errors is reserved; a maximum phase error caused by imaging processing and an electronic device are estimated; and a baseline error is estimated. Then, the phase errors and the baseline errors are converted into elevation errors through an elevation fuzzy number, thereby obtaining an analytical expression of the elevation errors and the baseline parameters (length and dip angle). With a relative height measurement accuracy index of the system as an optimization object, a feasible solution interval between the baseline length and the baseline dip angle of the system is solved through a trust region algorithm. A minimum value of the baseline length is corrected according to a flying-around safety distance of a dual-satellite formation. According to the method of the present disclosure, the design of the satellite-borne dual-base interference SAR system can be guided, so that the satellite-borne dual-base interference SAR system is ensured to carry out terrain elevation surveying and mapping tasks with high accuracy and high reliability.

The invention discloses a mountainous area wind field downscaling optimization method based on high-precision simulation, and relates to the technical field of meteorological numerical simulation, and the method comprises the steps: obtaining the terrain elevation data and meteorological monitoring data of a target mountainous area, recognizing slope abrupt change points, constructing a spiral sampling path, calculating a slope change value, determining the distance between sampling points, and generating target sampling data; performing orthogonal decomposition on the sampled data to obtain a frequency component, calculating a surface fluctuation coefficient, and constructing a boundary disturbance equation to obtain surface stress distribution; calculating an airflow motion state based on surface stress distribution, solving a vorticity equation to obtain vorticity characteristics of a leeward area, and calculating airflow motion correction parameters; and carrying out downscaling iterative operation on the corrected parameters and the meteorological monitoring data to generate target area wind field data with hectometer-magnitude spatial resolution. The simulation precision of the local wind field under the complex terrain condition is improved.

The invention relates to the technical field of intelligent construction scheduling and path planning, and discloses a cold regeneration rolling path intelligent planning system for multi-machine collaborative operation, and the system comprises an operation area modeling module which is used for obtaining the boundary and terrain elevation data of a construction area and the compaction task density information of each position in the area; the measurement tensor construction module is used for generating a measurement tensor of a construction area based on the terrain elevation data and the compaction task density information, and constructing and forming a two-dimensional Riemannian manifold model with weighted measurement; and the path cost construction module is used for constructing a path cost functional based on the two-dimensional Riemannian manifold model and the compaction task density information. According to the method, on the basis of geodesic path optimization and multi-machine dynamic allocation and scheduling, the path is reconstructed in combination with equipment kinematics, and the construction effects that the operation path is reasonable, equipment scheduling is efficient, the path is smooth and executable, and real-time adaptability is achieved are achieved.

The invention discloses a time sequence prediction and capacity bottleneck early warning method based on deep learning, and relates to a cloud system and a data processing technology, and the method comprises the steps: obtaining static equipment attribute data and a dynamic index of the cloud system; constructing a resource topological map, and establishing a terrain-like map covering each cloud system; dividing a normal equipment group and a capacity bottleneck associated equipment group based on the terrain-like elevation in the terrain-like map; respectively extracting topographic index features of the associated equipment group and the normal equipment group; utilizing parallel LSTM prediction channels to respectively predict the extracted topographic index features, and dynamically fusing the output of the dual prediction channels; and comparing a fusion output result with a preset capacity threshold value so as to execute dynamic capacity bottleneck early warning in the terrain-like map. According to the method, the service calling chain, the data flow direction path and the equipment association state are displayed in a three-dimensional mode in combination with the visualization technology, and multi-node capacity bottleneck early warning is achieved.

The invention relates to the technical field of remote sensing measurement, in particular to a power transmission line tree high-risk assessment method and device based on satellite remote sensing and a medium. And based on the result and line data, calibrating a safety distance, combining terrain elevation correction, identifying the tree, calculating the height of the tree and the clearance distance of the line, comparing the clearance distance with a safety standard, dividing high, medium and low risk levels, and generating a high-risk assessment result of the power transmission line tree. According to the method, the vegetation distribution is described by extracting the spectral features of the remote sensing image, the dynamic safety interval is constructed in combination with the position of the power transmission line and the vegetation distance, the model is established by fusing terrain and crown elevation data, clearance parameters are quantitatively calculated to generate the risk level, the complex terrain adaptability and the risk point automatic identification precision are improved, and the early warning reliability is improved. And intelligence and decision-making accuracy of power transmission line inspection are promoted.

A reservoir basin dam line site selection method based on an improved adaptive variable neighborhood search algorithm is realized based on an established dam line site selection optimization target mathematical model, and comprises the following steps: obtaining area DEM data needing site selection, and dividing the area DEM data into four identical sub-areas R1-R4; obtaining an initial parameter of each sub-region boundary, initializing the initial parameter of each sub-region boundary, and generating an initial solution Sol0; the initial solution Sol0 is used as a starting point, an IAVNS algorithm is adopted to solve the optimization target mathematical model, and the optimal solution Solbest of each sub-region is obtained; and outputting a global optimal solution Solbest fullness of the site selection area by using an SHP file, and carrying out visual display on the global optimal solution Solbest fullness. By proposing an IAVNS algorithm and adopting a double-layer collaborative optimization architecture, a dynamic hierarchical variable neighborhood search strategy and a rapid evaluation method based on terrain elevation variance analysis, global exploration, fine local search and multi-target dynamic balance optimization are realized, and fine optimization requirements under complex terrains are met.

The invention discloses a catastrophe rescue robot digital twin control method and system, and belongs to the technical field of robot intelligent control. Comprising a virtual-real mapping module which processes the body state of a robot and catastrophe scene point cloud data in real time, and constructs and synchronously updates a digital twinborn body containing a terrain elevation map at a cloud end; the hierarchical decision-making module is used for making a decision in the digital twinborn body by utilizing a hierarchical reinforcement learning model, and outputting a wheel-leg movement mode and an excavation arm cooperation instruction by a high-level strategy network according to the terrain complexity; and the safety deduction module introduces a safety reinforcement learning mechanism, deduces and verifies the generated action instruction in the virtual environment, and restrains the dangerous action by controlling a barrier function. According to the method, the decision risk of the heavy robot in the unstructured catastrophic terrain can be reduced, the stability of motion control is improved, and a high-safety control strategy is provided for various complex obstacle crossing actions based on simulation prediction.

The invention belongs to the technical field of SPH modeling, and particularly discloses an SPH particle model and surface geometric model automatic generation method and system, and the method comprises the steps: constructing raster data of a terrain elevation model and a source thickness distribution model, carrying out the data standardization processing, and achieving the unification of the spatial reference of the terrain elevation model and the source thickness distribution model; resampling the resolution of the standardized raster data to ensure that the size of the raster unit is matched with the physical characteristics of the particles; generating terrain boundary particles by adopting a hierarchical generation algorithm, and completing material source particle filling; and based on the grid vertex coordinate set, generating a surface geometric model in an STL format, outputting particle coordinates and an STL file meeting the requirements of an SPH solver, and completing automatic generation of the SPH particle model and the surface geometric model. The problems that an existing SPH modeling method is low in processing efficiency, high in data alignment error and insufficient in model surface geometric accuracy are solved.

The invention discloses a stability regulation and control method for a camera system, and the method comprises the following steps: S1, collecting the installation position information of the camera system in real time through a multi-source sensor array, the installation position information comprising terrain elevation data, a base vibration frequency spectrum, and environment temperature and humidity distribution parameters; s2, constructing a three-dimensional stability evaluation model, and inputting the installation position information into the three-dimensional stability evaluation model to generate a stability coefficient matrix; and when any dimension parameter in the stability coefficient matrix exceeds a preset safety threshold value, activating the self-balance adjusting mechanism to perform multi-degree-of-freedom compensation adjustment. According to the invention, through fusion of environment perception, intelligent prediction and multi-mode cooperative compensation, the core problems of insufficient stability, response lag and single protection means of a traditional regulation and control method in a complex dynamic environment are solved.

The invention provides a wind field inversion method and device based on multi-source prior data, equipment and a medium, and the method comprises the steps: building a target function of a three-dimensional fusion wind field based on the multi-source prior data and a fluid mechanics model simulation wind field, carrying out the iterative optimization of the target function, and determining the three-dimensional fusion wind field; constructing an initial deep learning neural network model, taking the three-dimensional fusion wind field as a truth value label, inputting the urban underlying surface features, the terrain elevation and the numerical weather forecast wind field into the deep learning neural network model, and training to obtain a target deep learning neural network model; and inputting the new numerical weather forecast wind field, the urban underlying surface features and the terrain elevation into the target deep learning neural network model, and outputting a refined wind field. According to the technical scheme provided by the embodiment of the invention, through the trained deep learning neural network model, high-precision rapid inversion of the low-altitude wind field is realized without depending on laser radar and ground observation data and depending on prior information such as numerical prediction and terrain.

The invention discloses a GIS-based cross-section diagram real-time synchronous display method and system, and relates to the technical field of geological modeling, and the method comprises the steps: importing multi-source heterogeneous geographic data, carrying out the standardized preprocessing, and generating a geographic information data set in a unified format; carrying out multi-dimensional feature extraction on the geographic information data set by adopting a feature level fusion algorithm, and constructing a multi-dimensional geographic feature model fusing geological structure, terrain elevation and earth surface coverage information; performing data optimization by adopting a spatial interpolation algorithm based on the multi-dimensional geographic feature model to generate a continuous geographic surface model; and performing parallel contour tracking and topological sorting on the discrete section line segment set, and generating a user-defined section diagram supporting interactive parameter adjustment in real time. According to the method, the multi-dimensional geographic feature model is constructed through the feature level fusion algorithm, semantic level association of the geologic structure, the terrain elevation and the earth surface coverage information is realized, the problem of pixel level fusion is solved, and the data space consistency error is reduced.

The embodiment of the invention provides a reservoir capacity dynamic monitoring method and system based on an unmanned aerial vehicle, and the method comprises the steps: obtaining a reservoir surface feature data set through the unmanned aerial vehicle, determining the boundary of a water area, scanning the bottom of the reservoir, obtaining the underwater terrain elevation and sediment distribution data, and constructing a three-dimensional terrain model; and determining terrain and deposit change data based on the three-dimensional terrain model dynamic change data of the continuous time sequence. Sedimentation space distribution characteristics are obtained through change rate analysis, and the sediment transportation amount and the sedimentation and deposition space rule are determined in combination with the water flow speed. Key driving factors are screened through correlation analysis, a sedimentation high-risk area is determined according to the key driving factors, and the change of sediments in the area is monitored, so that the change of the reservoir capacity is mastered. The reservoir siltation can be accurately and dynamically monitored, the high-risk area and the change mode are defined, the dynamic database is constructed to update the capacity change in real time, and important technical support is provided for reservoir management and flood control and disaster reduction.

The invention discloses a non-flat terrain autonomous navigation method based on path pruning and trajectory smoothing. The method comprises the following steps: constructing an elevation map with three-dimensional map information as a navigation map according to robot navigation space information; based on the navigation map, performing global path search by adopting a path pruning strategy to obtain an initial path from the starting point to the target point; based on the initial path, track optimization is carried out by using a B spline curve, and a smooth track meeting robot dynamics constraints is generated; in response to an obstacle which is detected on the smooth trajectory and cannot be avoided, performing three-dimensional obstacle crossing trajectory planning based on terrain elevation information of the elevation map, and generating an obstacle crossing trajectory capable of crossing the obstacle; wherein the robot performs autonomous navigation based on the smooth track or the obstacle crossing track. According to the invention, efficient global search, smooth trajectory optimization and intelligent obstacle crossing decision of the robot in unknown and non-flat terrains can be realized.

The invention provides a distributed MIMO clutter echo simulation method based on GIS information, and the method comprises the steps: obtaining the GIS information of a geographic information system, and dividing a surface scatterer irradiated by an MIMO radar into a plurality of basic scattering units based on the GIS information; calculating slope distances, Doppler frequencies, terrain elevation values and land cover types of the plurality of basic scattering units to form a scene model element set; mapping a plurality of basic scattering units to a radar resolution unit by combining a backscattering coefficient empirical model and a resolution adaptive grid mapping method according to the scene model element set; dividing the radar resolution unit into a permanent scattering area and a dynamic scattering area according to GIS information; performing clutter statistical characteristic simulation processing on the permanent scattering region and the dynamic scattering region to obtain a clutter amplitude sequence; and performing echo analysis processing on the clutter amplitude sequence in a time-frequency domain to obtain clutter echo simulation data. And the simulation precision of clutter echo simulation data is integrally improved.