CN109188359B - Lightning positioning method and device - Google Patents

Abstract

A lightning localization method and device provided by the embodiments of the present invention, by acquiring the lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and the location information of the lightning detection sub-stations; The lightning pulse signal determines the pulse peak corresponding to each lightning detection sub-station under the same target lightning discharge event as the target pulse peak group, and obtains the corresponding occurrence time of each pulse peak of the target pulse peak group; The position information of the station and the corresponding occurrence time of each pulse peak of the target pulse peak group are determined by the time difference of arrival method to determine the initial position information of the target lightning; The location information of the target lightning is determined by the method of twice time reversal, so as to improve the lightning positioning accuracy.

Description

Lightning positioning method and device

technical field

The invention relates to the technical field of meteorological research, in particular to a lightning positioning method and device.

Background technique

Lightning is a catastrophic natural phenomenon, which has caused great harm to human production and life. It can cause casualties, cause oil depots and forest fires, cause failure or damage to power supply and communication information systems, and pose a major threat to aviation, aerospace and some important and sensitive high-tech equipment. Lightning can be roughly divided into two types: ground lightning and cloud lightning. Among them, ground lightning accounts for about one-third of the total number of lightning flashes, while cloud lightning, including intra-cloud discharge process, inter-cloud discharge process and cloud-air discharge process, accounts for about one-third of the total number of lightning flashes. Two-thirds of the total number of lightning. At present, the lightning location network used by domestic meteorological and electric power departments in their business is mainly aimed at locating ground lightning, but lacks the ability to detect cloud lightning, which accounts for the majority of total lightning activities.

At present, all-flash (cloud-flash and ground-flash) 3D positioning technology based on time difference of arrival (TDOA) has been developed at home and abroad. The main idea is to find the least squares solution based on the initial solution of the linear equation. Good positioning results are obtained, but the ability to analyze multiple simultaneous discharge events is insufficient, resulting in inaccurate positioning. The time-reversal method has recently been applied in the electromagnetic field and has the ability of multi-source localization, but its computational complexity is large, resulting in low efficiency.

SUMMARY OF THE INVENTION

The present invention provides a lightning positioning method and device, which are used to solve the problem of inaccurate lightning positioning in the prior art.

In a first aspect, an embodiment of the present invention provides a method for locating lightning, including:

Acquiring lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and location information of the lightning detection sub-stations;

Determine, according to the lightning pulse signal, a pulse peak corresponding to each lightning detection substation under the same target lightning discharge event as a target pulse peak group, and obtain the occurrence time corresponding to each pulse peak of the target pulse peak group;

According to the position information of the lightning detection sub-station and the occurrence time corresponding to each pulse peak of the target pulse peak group, the time difference of arrival method is used to determine the initial position information of the target lightning;

According to the initial position information, the pre-set range of the adjacent space is latticed, and the position information of the target lightning is determined by the method of twice time reversal.

In a second aspect, an embodiment of the present invention provides a lightning location device, including:

an acquisition module, configured to acquire the lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and the location information of the lightning detection sub-stations;

The matching module is configured to determine, according to the lightning pulse signal, the pulse peaks corresponding to each lightning detection sub-station under the same target lightning discharge event as a target pulse peak group, and obtain the occurrence time corresponding to each pulse peak of the target pulse peak group ;

a solving module, used for determining the initial position information of the target lightning by adopting the time difference of arrival method according to the position information of the lightning detection sub-station and the occurrence time corresponding to each pulse peak of the target pulse peak group;

The positioning module is configured to perform gridding processing on the preset range of its adjacent space according to the initial position information, and determine the position information of the target lightning by adopting the method of twice time reversal.

It can be known from the above technical solutions that the lightning localization method and device provided by the embodiments of the present invention obtain the lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and the lightning detection sub-stations According to the lightning pulse signal, determine the pulse peak corresponding to each lightning detection substation under the same target lightning discharge event as the target pulse peak group, and obtain the corresponding occurrence time of each pulse peak of the target pulse peak group; According to the position information of the lightning detection sub-station and the corresponding occurrence time of each pulse peak of the target pulse peak group, the time difference of arrival method is used to determine the initial position information of the target lightning; according to the initial position information, the time reversal method is used twice to determine The location information of the target lightning can improve the lightning positioning accuracy.

Description of drawings

FIG. 1 is a schematic flowchart of a lightning location method according to an embodiment of the present invention;

2 is a schematic diagram of an analysis of a time difference of arrival method provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a lightning locating device according to an embodiment of the present invention.

Detailed ways

The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.

FIG. 1 shows a lightning location method provided by an embodiment of the present invention, including:

S11. Acquire lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and location information of the lightning detection sub-stations.

In this step, it should be noted that, in the embodiment of the present invention, since the location information and occurrence time of the target lightning are to be determined, for the determination of the four unknown values, the synchronization of at least four sub-stations is required to be solved based on the calculation formula. Data is used as a support, so in the embodiment of the present invention, it is necessary to obtain the lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and the location information of the lightning detection sub-stations. The location information is the three azimuth coordinates of the lightning detection substation.

In addition, it should be noted that in order to remove the influence of low-frequency and high-frequency signals in the original lightning pulse signal on the characteristic peaks, it is necessary to filter the original lightning pulse information according to the preset requirements. The filtering technology is a mature technology. This will not be repeated here.

S12. Determine, according to the lightning pulse signal, a pulse peak corresponding to each lightning detection substation under the same target lightning discharge event as a target pulse peak group, and obtain the occurrence time corresponding to each pulse peak of the target pulse peak group.

In this step, it should be noted that, in this embodiment of the present invention, the pulse peak corresponding to each lightning detection substation under the same target lightning discharge event is determined according to the lightning pulse signal, as a target pulse peak group, and Obtain the occurrence time corresponding to each pulse peak of the target pulse peak group, which may include:

S121, using a first matching condition to perform peak-seeking processing according to the lightning pulse signal to obtain all pulse peaks within a preset collection time period;

S122. Perform screening by using the second matching condition according to all pulse peaks in the preset collection time period, and perform matching by using the third matching condition, and process to obtain the target pulse corresponding to the lightning detection substation under the same target lightning discharge event peak group, and obtain the corresponding occurrence time of each pulse peak in the target pulse peak group;

The first matching condition is:

The pulse amplitude is greater than the noise standard value of the preset multiple;

The time difference between two adjacent pulse peaks is greater than the preset time difference, and the pulse peak corresponding to the largest amplitude value within the preset time difference is taken as the peak of the corresponding pulse;

The second matching condition is:

The time difference between the corresponding pulse peaks of any two lightning detection sub-stations is smaller than the propagation time of light in the two lightning detection sub-stations.

The third matching condition is:

The rising edge time, steepness, half-peak width and falling edge time of all pulse peaks are formed into a one-dimensional array, and under the premise of satisfying the second matching condition, the correlation coefficients of all one-dimensional arrays of any two lightning detection substations are calculated respectively. , take a group of pulse peaks corresponding to the maximum value to form the target pulse peak group.

After the matching processing in the above steps S121 and S122, the pulse peaks corresponding to each lightning detection substation under the same target lightning discharge event can be screened out as the target pulse peak group, and the corresponding pulse peaks of each pulse peak of the target pulse peak group can be obtained. Time of occurrence.

S13. Determine the initial position information of the target lightning by adopting the time difference of arrival method according to the position information of the lightning detection sub-station and the occurrence time corresponding to each pulse peak of the target pulse peak group.

In this step, it should be noted that, in this embodiment of the present invention, the target pulse peak group is considered to be a signal generated by the same discharge event during the lightning process, and the target pulse peak group is based on the time information of the pulse peak value and the position information of each substation. The event location gets the initial solution. This part adopts the Time Difference of Arrival (TDOA) method, which is shown in schematic diagram 2 of the space.

As can be seen from Figure 2, the TDOA method formula is:

Where c is the speed of light, usually c=3*10^8m/s; x _i , y _i , zi are the position coordinates of the _i -th sub-station that received the lightning pulse signal; t _i is the i-th sub-station that received the lightning The time of the signal peak; x, y, z are the coordinates of the location where the target lightning occurs; t is the time when the target lightning occurs.

Multiply both sides of equation (1) at the same time to get:

c ² (t ² -2tt _i +t _i ² )=x ² -2xx _i +x _i ² +y ² -2yy _i +y _i ² +z ² -2zz _i +z _i ² (2)

Definition: r ² =x ² +y ² +z ² , ri ² =x _i ² +y _i ^{2 +} z _{i 2} . At this point (2) can be written as:

c ² t ² -2c ² tt _i +c ² t _i ² =r ² +r _i ² -2xx _i -2yy _i -2zz _i (3)

Similarly, the jth substation has:

c ² t ² -2c ² tt _j +c ² t _j ² =r ² +r _j ² -2xx _j -2yy _j -2zz _j (4)

Subtract (4) from (3) to get:

c ² (t ² -t _i ² )-2c ² t(t _i -t _i )=r _i ² -r _j ² -2x(x _i -x _j )-2 _y (y _i -y _j )-2z (z _i -z _j ) (5)

Definition: t _ij =t _i -t _j , x _ij =x _i -x _j , y _ij =y _i -y _j , zi _ij =z _i -z _j , equation (5) can be obtained:

Among them, c is the speed of light, x, y, z are the coordinates of the location where the target lightning occurs; t is the time when the target lightning occurs, and x _i , yi, and zi are the position of the _i -th lightning detection substation that receives the lightning pulse signal. Coordinates, x _j , y _j , z _j are the position coordinates of the j-th lightning detection sub-station that received the lightning pulse signal, t _i and t _j are the i-th lightning detection sub-station and the j-th lightning detection sub-station respectively The time when the lightning pulse signal is received, t _ij is the difference between the time when the i-th lightning detection substation and the j-th lightning detection sub-station receive the lightning pulse signal, and x _ij is the i-th lightning detection sub-station and the j-th lightning detection sub-station. The position difference of the lightning detection sub-station in the x direction, y _ij is the position difference between the i-th lightning detection sub-station and the j-th lightning detection sub-station in the y-direction, and z _ij is the i-th lightning detection sub-station and the j-th lightning detection sub-station. The position difference of j lightning detectors standing in the z direction.

Equation (6) can be transformed into matrix multiplication, because there are only four unknowns x, y, z, t in this formula, so the linearity of Equation (6) can be obtained only with at least four substation observation data. untie.

S14. According to the initial position information, perform gridding processing on the preset range of the adjacent space, and use a time reversal method to determine the position information of the target lightning.

In this step, it should be noted that, in this embodiment of the present invention, according to the initial position information, the preset range of the adjacent space is subjected to lattice processing, and the twice time reversal method is used to determine the target lightning speed. Location information, including:

S141, selecting a time period that includes the target pulse peak group, and inverting the corresponding occurrence time of each pulse peak according to the time period;

S142. Use the position of the initial position information in the x and y directions as the spatial origin, and generate x, y, z according to the preset gradient increment conditions in the x and y directions and the gradient increment conditions in the z direction The coordinate point set of the spatial position in the direction;

S143, obtaining the spatial distance from each coordinate point in the coordinate point set of the spatial position to each lightning detection sub-station, and obtaining the corresponding propagation time of the electromagnetic wave from each coordinate point to each lightning detection sub-station according to the spatial distance;

S144, obtaining the pulse signal after each update occurrence time according to the occurrence time corresponding to each pulse peak and the propagation time;

S145 , superimposing all the pulse signals, and determining that the spatial coordinate information corresponding to the maximum pulse peak after the superposition is the position information of the target lightning.

S146, take the position of the position information in the x, y and z directions as the spatial origin, and generate x, y, The set of refined spatial position coordinate points in the z direction;

S147, obtaining the spatial distance from each coordinate point in the refined spatial position coordinate point set to each lightning detection sub-station, and obtaining the corresponding propagation time of the electromagnetic wave from each coordinate point to each lightning detection sub-station according to the spatial distance;

S148, obtaining the pulse signal after each update of the occurrence time according to the occurrence time corresponding to each pulse peak and the propagation time;

S149 , superimpose all the pulse signals, and determine that the refined spatial coordinate information corresponding to the maximum pulse peak after the superposition is the precise position information of the target lightning.

The above steps are described with specific examples:

Take a period of time that contains a set of matching pulse peaks, the start time of this period is recorded as t1, the end time is recorded as _t2 , and the time at any moment in this time period is recorded as t. The time period should contain the complete information for the set of matched pulses, usually taken from 0.00002s before the first peak to 0.00002s after the last peak. Let the time 0.00002s before the first peak be t1, and the time 0.00002s after the last peak be t2. At this time, time reversal is performed to obtain the time t'=t ₂ -t+t ₁ after the reversal in the time period.

Let the initial solutions x and y obtained by the TDOA method be x ₀ and y ₀ respectively, and take a point every 20 m within the range of x ₀ ±1000m and y ₀ ±1000m. In the z direction, take a point every 50m upwards from 0m, and the upper limit of the height is generally 10000m (1000m can be taken when hitting back). Combine the coordinate values taken in the three directions of x, y, and z to obtain the coordinate set of spatial position.

Calculate the distance between the spatial coordinate point and each sub-station, and the propagation time of the electromagnetic wave between them (take the speed of light c=3*10^8m/s). The time Δt _ij for the electromagnetic waves emitted by each point in space to arrive at each station can be obtained (i is the ith sub-station, j is the jth space point). On the basis of the waveform of the above-mentioned inversion time period, add Δt to the corresponding time of each station _ij , and then superimpose the waveforms of each station, and the space point corresponding to the maximum value after superposition is the lightning location point. Because the signals arriving at the same station at the same time may not come from the same radiation source, in order to achieve multi-source positioning, a threshold can be set (for example, the threshold is 0.8). When the relative peak value is greater than this threshold, it is considered that the corresponding spatial point at this time All contain radiation sources.

Since the grid points divided by the first time reversal are large, it is necessary to finely divide the grid points on the basis of the first time to reduce the amount of calculation and improve the accuracy. The method is the same as that of S14, except that the spatial origin in S142 is replaced with the position information obtained in S145, and the grid division is finer.

In a lightning location method provided by an embodiment of the present invention, by acquiring lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and location information of the lightning detection sub-stations; The pulse signal determines the pulse peak corresponding to each lightning detection sub-station under the same target lightning discharge event as the target pulse peak group, and obtains the corresponding occurrence time of each pulse peak in the target pulse peak group; The position information and the occurrence time corresponding to each pulse peak of the target pulse peak group are determined by the arrival time difference method to determine the initial position information of the target lightning; The sub-time reversal method is used to determine the position information of the target lightning, so as to improve the lightning positioning accuracy.

FIG. 3 shows a lightning positioning device provided by an embodiment of the present invention, including an acquisition module 21, a matching module 22, a solving module 23, and a positioning module 24, wherein:

an acquisition module 21, configured to acquire lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and position information of the lightning detection sub-stations;

The matching module 22 is configured to determine the pulse peak corresponding to each lightning detection substation under the same target lightning discharge event according to the lightning pulse signal as a target pulse peak group, and obtain the occurrence corresponding to each pulse peak of the target pulse peak group time;

The solving module 23 is used for determining the initial position information of the target lightning by adopting the time difference of arrival method according to the position information of the lightning detection sub-station and the occurrence time corresponding to each pulse peak of the target pulse peak group;

The positioning module 24 is configured to perform gridding processing on the preset range of the adjacent space according to the initial position information, and determine the position information of the target lightning by using the twice time reversal method.

In addition, a filtering module is also included: after acquiring the lightning pulse signals received by four or more lightning detection sub-stations within a preset collection time period, filtering the lightning pulse signals.

Since the principle of the apparatus described in the embodiment of the present invention is the same as that of the method described in the foregoing embodiment, more detailed explanations are not repeated here.

It should be noted that, in the embodiments of the present invention, relevant functional modules may be implemented by a hardware processor (hardware processor).

An embodiment of the present invention provides a lightning locating device, by acquiring lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and location information of the lightning detection sub-stations; The pulse signal determines the pulse peak corresponding to each lightning detection sub-station under the same target lightning discharge event as the target pulse peak group, and obtains the corresponding occurrence time of each pulse peak in the target pulse peak group; The position information and the occurrence time corresponding to each pulse peak of the target pulse peak group are determined by the arrival time difference method to determine the initial position information of the target lightning; The sub-time reversal method is used to determine the position information of the target lightning, so as to improve the lightning positioning accuracy.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the invention within and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

It should be noted that the above-described embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

Those of ordinary skill in the art can understand that: the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that : It is still possible to modify the technical solutions recorded in the foregoing embodiments, or to perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the claims of the present invention. range.

Claims (8)

1. a lightning positioning method, is characterized in that, comprises: Acquiring lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and location information of the lightning detection sub-stations; Determine, according to the lightning pulse signal, a pulse peak corresponding to each lightning detection substation under the same target lightning discharge event as a target pulse peak group, and obtain the occurrence time corresponding to each pulse peak of the target pulse peak group; According to the position information of the lightning detection sub-station and the occurrence time corresponding to each pulse peak of the target pulse peak group, the time difference of arrival method is used to determine the initial position information of the target lightning; According to the initial position information, the adjacent space preset range is latticed, and the position information of the target lightning is determined by two time reversal methods; Wherein, according to the initial position information, the preset range of its adjacent space is latticed, and the position information of the target lightning is determined by two time reversal methods, including: selecting a time period including the target pulse peak group, and inverting the corresponding occurrence time of each pulse peak according to the time period; Taking the position of the initial position information in the x and y directions as the spatial origin, and generating the x, y, and z directions according to the preset gradient increment conditions in the x and y directions and the gradient increment conditions in the z direction The spatial position coordinate point set of ; Obtaining the spatial distance from each coordinate point in the coordinate point set of the spatial position to each lightning detection sub-station, and obtaining the corresponding propagation time of the electromagnetic wave from each coordinate point to each lightning detection sub-station according to the spatial distance; Obtain the pulse signal after each update occurrence time according to the occurrence time corresponding to each pulse peak and the propagation time; All pulse signals are superimposed, and the spatial coordinate information corresponding to the maximum pulse peak after superposition is determined as the position information of the target lightning; Taking the position of the position information in the x, y and z directions as the spatial origin, and generating the x, y and z directions according to the preset gradient increment conditions in the x and y directions and the gradient increment conditions in the z direction The refined spatial position coordinate point set on ; Obtaining the spatial distance from each coordinate point in the set of refined spatial position coordinate points to each lightning detection sub-station, and obtaining the corresponding propagation time of the electromagnetic wave from each coordinate point to each lightning detection sub-station according to the spatial distance; Obtain the pulse signal after each update occurrence time according to the occurrence time corresponding to each pulse peak and the propagation time; All pulse signals are superimposed, and the refined spatial coordinate information corresponding to the maximum pulse peak after superposition is determined as the precise position information of the target lightning. 2 . The method according to claim 1 , wherein the pulse peak corresponding to each lightning detection substation under the same target lightning discharge event is determined according to the lightning pulse signal as a target pulse peak group, and 2 . Obtain the occurrence time corresponding to each pulse peak of the target pulse peak group, including: According to the lightning pulse signal, the first matching condition is used to perform peak-finding processing to obtain all pulse peaks within the preset collection time period; According to all the pulse peaks in the preset collection time period, the second matching condition is used for screening, and the third matching condition is used for matching, and the target pulse peak group corresponding to the lightning detection substation under the same target lightning discharge event is obtained by processing. , and obtain the corresponding occurrence time of each pulse peak of the target pulse peak group; The first matching condition is: The pulse amplitude is greater than the noise standard value of the preset multiple; The time difference between two adjacent pulse peaks is greater than the preset time difference, and the pulse peak corresponding to the largest amplitude value within the preset time difference is taken as the peak of the corresponding pulse; The second matching condition is: The time difference between the corresponding pulse peaks of any two lightning detection sub-stations is less than the propagation time of light in the two lightning detection sub-stations; The third matching condition is: The rising edge time, steepness, half-peak width and falling edge time of all pulse peaks are formed into a one-dimensional array, and under the premise of satisfying the second matching condition, the correlation coefficients of all one-dimensional arrays of any two lightning detection substations are calculated respectively. , take a group of pulse peaks corresponding to the maximum value to form the target pulse peak group. 3. The method according to claim 1, characterized in that, according to the position information of the lightning detection sub-station and the occurrence time corresponding to each pulse peak of the target pulse peak group, the time difference of arrival method is used to determine the initial value of the target lightning. Location information, including: The initial position information of the target lightning is determined according to the position information of the lightning detection sub-station and the occurrence time corresponding to each pulse peak of the target pulse peak group by adopting the arrival time difference calculation formula; The arrival time difference calculation formula includes:

in; t _ij =t _i -t _j x _ij = x _i -x _j y _ij =y _i -y _j z _ij = z _i -z _j

Among them, c is the speed of light, x, y, z are the coordinates of the location where the target lightning occurs; t is the time when the target lightning occurs, _xi , y, and _zi are the _ith lightning detection substations that receive the lightning pulse signal. Position coordinates, x _j , y _j , z _j are the position coordinates of the j-th lightning detection sub-station that received the lightning pulse signal, t _i and t _j are the i-th lightning detection sub-station and the j-th lightning detection sub-station respectively The time when the station receives the lightning pulse signal, t _ij is the difference between the time when the i-th lightning detection sub-station and the j-th lightning detection sub-station receive the lightning pulse signal, x _ij is the i-th lightning detection sub-station and the j-th lightning detection sub-station The position difference of the lightning detection sub-stations in the x direction, y _ij is the position difference between the i-th lightning detection sub-station and the j-th lightning detection sub-station in the y direction, zi _ij is the i-th lightning detection sub-station and The position difference of the jth lightning detector in the z direction. 4 . The method according to claim 1 , further comprising: after acquiring the lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, filtering the lightning pulse signals. 5 . step. 5. A lightning positioning device, characterized in that, comprising: an acquisition module, configured to acquire the lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period, and the location information of the lightning detection sub-stations; The matching module is configured to determine, according to the lightning pulse signal, the pulse peaks corresponding to each lightning detection sub-station under the same target lightning discharge event as a target pulse peak group, and obtain the occurrence time corresponding to each pulse peak of the target pulse peak group ; a solving module, used for determining the initial position information of the target lightning by adopting the time difference of arrival method according to the position information of the lightning detection sub-station and the occurrence time corresponding to each pulse peak of the target pulse peak group; a positioning module, configured to perform gridding processing on the preset range of its adjacent space according to the initial position information, and determine the position information of the target lightning by two time reversal methods; Wherein, the positioning module is specifically used for: selecting a time period including the target pulse peak group, and inverting the corresponding occurrence time of each pulse peak according to the time period; Taking the position of the initial position information in the x and y directions as the spatial origin, and generating the x, y, and z directions according to the preset gradient increment conditions in the x and y directions and the gradient increment conditions in the z direction The spatial position coordinate point set of ; Obtaining the spatial distance from each coordinate point in the coordinate point set of the spatial position to each lightning detection sub-station, and obtaining the corresponding propagation time of the electromagnetic wave from each coordinate point to each lightning detection sub-station according to the spatial distance; Obtain the pulse signal after each update occurrence time according to the occurrence time corresponding to each pulse peak and the propagation time; All pulse signals are superimposed, and the spatial coordinate information corresponding to the maximum pulse peak after superposition is determined as the position information of the target lightning; Taking the position of the position information in the x, y and z directions as the spatial origin, and generating the x, y and z directions according to the preset gradient increment conditions in the x and y directions and the gradient increment conditions in the z direction The refined spatial position coordinate point set on ; Obtaining the spatial distance from each coordinate point in the set of refined spatial position coordinate points to each lightning detection sub-station, and obtaining the corresponding propagation time of the electromagnetic wave from each coordinate point to each lightning detection sub-station according to the spatial distance; Obtain the pulse signal after each update occurrence time according to the occurrence time corresponding to each pulse peak and the propagation time; All pulse signals are superimposed, and the refined spatial coordinate information corresponding to the maximum pulse peak after superposition is determined as the precise position information of the target lightning. 6. The device according to claim 5, wherein the matching module is specifically used for: According to the lightning pulse signal, the first matching condition is used to perform peak-finding processing to obtain all pulse peaks within the preset collection time period; According to all the pulse peaks in the preset collection time period, the second matching condition is used for screening, and the third matching condition is used for matching, and the target pulse peak group corresponding to the lightning detection substation under the same target lightning discharge event is obtained by processing. , and obtain the corresponding occurrence time of each pulse peak of the target pulse peak group; The first matching condition is: The pulse amplitude is greater than the noise standard value of the preset multiple; The time difference between two adjacent pulse peaks is greater than the preset time difference, and the pulse peak corresponding to the largest amplitude value within the preset time difference is taken as the peak of the corresponding pulse; The second matching condition is: The time difference between the corresponding pulse peaks of any two lightning detection sub-stations is less than the propagation time of light in the two lightning detection sub-stations; The third matching condition is: The rising edge time, steepness, half-peak width and falling edge time of all pulse peaks are formed into a one-dimensional array, and under the premise of satisfying the second matching condition, the correlation coefficients of all one-dimensional arrays of any two lightning detection substations are calculated respectively. , take a group of pulse peaks corresponding to the maximum value to form the target pulse peak group. 7. The device according to claim 5, wherein the solving module is specifically used for: The initial position information of the target lightning is determined according to the position information of the lightning detection sub-station and the occurrence time corresponding to each pulse peak of the target pulse peak group by adopting the arrival time difference calculation formula; The arrival time difference calculation formula includes:

in; t _ij =t _i -t _j x _ij = x _i -x _j y _ij =y _i -y _j z _ij = z _i -z _j

Among them, c is the speed of light, x, y, z are the coordinates of the location where the target lightning occurs; t is the time when the target lightning occurs, _xi , y, and _zi are the _ith lightning detection substations that receive the lightning pulse signal. Position coordinates, x _j , y _j , z _j are the position coordinates of the j-th lightning detection sub-station that received the lightning pulse signal, t _i and t _j are the i-th lightning detection sub-station and the j-th lightning detection sub-station respectively The time when the station receives the lightning pulse signal, t _ij is the difference between the time when the i-th lightning detection sub-station and the j-th lightning detection sub-station receive the lightning pulse signal, x _ij is the i-th lightning detection sub-station and the j-th lightning detection sub-station The position difference of the lightning detection sub-stations in the x direction, y _ij is the position difference between the i-th lightning detection sub-station and the j-th lightning detection sub-station in the y direction, zi _ij is the i-th lightning detection sub-station and The position difference of the jth lightning detector in the z direction. 8 . The device according to claim 5 , further comprising a filtering module: used for filtering the lightning pulse signals of the lightning pulse signals received by at least four lightning detection sub-stations within a preset collection time period. 9 . Perform filtering.

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