CN115980787B - Pollution monitoring and positioning method based on particulate radar - Google Patents
Pollution monitoring and positioning method based on particulate radar Download PDFInfo
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Abstract
The invention discloses a pollution monitoring and positioning method based on a particulate radar, which relates to the technical field of atmospheric pollution monitoring, and the method adopts computer algorithm processing to calculate a distance point with high pollution degree, and can acquire a zone and a region with high pollution degree in real time for tracking treatment; therefore, the method can effectively monitor and position the pollution in real time in the scanning area, find out the pollution area and position the pollution center; and the pollution condition in the current scanning direction is analyzed and recorded in real time in the scanning process, so that the monitoring efficiency and traceability are improved. The invention realizes the highly automatic monitoring of the polluted area by using the camera and the unmanned aerial vehicle in a remote network linkage way, and compared with the traditional manual monitoring means, the monitoring of the invention is more three-dimensional and business.
Description
Technical Field
The invention relates to the technical field of atmospheric pollution monitoring, in particular to a pollution monitoring and positioning method based on a particulate radar.
Background
Particulate lidar is an effective means of detecting the atmosphere and is widely used in research of atmospheric aerosols, atmospheric weather parameters, clouds, and the like. The particle laser radar adopts Mie scattering principle to detect the concentration distribution and shape characteristics of particles on a laser path. When the particle laser radar scans and monitors, the azimuth angle and the pitch angle of the radar work are set, so that the radar at a certain fixed point scans and monitors the building site, the living service area, the industrial park and other areas on line in real time, and the radial distribution rule and the spatial distribution rule of pollutants are depicted.
At present, in the process of using the particulate matter laser radar, operation and maintenance staff are required to monitor the running condition and detection data of the radar in real time and analyze and position pollution in real time, the operation and maintenance staff are required to have a certain technical level, in addition, part of pollution has timeliness, such as burning platycodon grandiflorum, setting off fireworks and the like, and if the operation and maintenance staff perform analysis and positioning of the pollution after a period of time, real pollution information is difficult to obtain.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a pollution monitoring and positioning method based on a particulate matter radar, which can effectively monitor and position the radar scanning area in real time, find out a pollution area and position a pollution center; and the pollution condition in the current scanning direction is analyzed and recorded in real time in the scanning process, so that the monitoring efficiency and traceability are improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme, including:
a pollution monitoring and positioning method based on a particulate radar comprises the following steps:
s1, fixing a pitch angle of a particulate radar, and scanning along a current azimuth to obtain particulate concentration data at different distance points in the current azimuth;
s2, judging the pollution degree of each distance point in the current azimuth according to the particle concentration data of each distance point in the current azimuth, and if the particle concentration of a certain distance point is greater than or equal to a set threshold value, the pollution degree of the distance point is high; if the concentration of the particulate matters at a certain distance point is smaller than a set threshold value, the pollution degree at the certain distance point is low;
s3, searching a pollution interval in the current azimuth according to the pollution degree of each distance point in the current azimuth; the pollution interval is an interval formed by a or more than a continuous distance points with high pollution degree;
s4, if a pollution zone exists in the current azimuth, controlling a camera to take a picture towards the current azimuth according to the pitch angle of the particulate radar, and obtaining a pollution image of the current azimuth;
s5, the particle radar sequentially scans all the directions according to the stepping angle to obtain particle concentration data of points at different distances in all the directions, sequentially judges the pollution degree of the points at all the distances in all the directions according to the mode of the steps S2-S4, searches the pollution interval in all the directions and obtains pollution images of all the directions;
s6, constructing a matrix A according to the pollution degree of each distance point in each azimuth; row i of the matrix represents the azimuth sequence number, i.e., the ith azimuth; column j of the matrix represents the distance point number, i.e., the j-th distance point; the element value of the jth element Aij of the ith row and jth column in the matrix represents the pollution level of the jth distance point on the ith azimuth, the element value of 1 represents high pollution level, and the element value of 0 represents low pollution level;
s7, searching a connected domain in the matrix, namely a polluted region, and searching the central position of the connected domain; the connected domain is a region composed of b or more elements each having an element value of 1 adjacent to each other;
s8, obtaining the position of the pollution center according to the azimuth sequence number and the distance point sequence number corresponding to the center position of the connected domain;
s9, the unmanned aerial vehicle is scheduled to go to the position of the pollution center, and the pollution center is photographed to obtain a pollution center image.
Preferably, in step S4, the camera and the particulate radar are fixed at the same position, pitch angles are the same, and the camera and the particulate radar rotate synchronously.
Preferably, the particulate matter concentration data includes a concentration value of PM2.5 and a concentration value of PM 10;
in step S2, if the concentration value of PM2.5 at a certain distance point is greater than or equal to the set first threshold value, or the concentration value of PM10 is greater than or equal to the set second threshold value, the pollution level at that distance point is high; otherwise, the contamination level at this distance point is low.
Preferably, in step S8, the location of the contaminated center includes a latitude Lat1 and a longitude Lng1, wherein,
Lat1=Lat0+D×cos(π×angle/180)/rd；
Lng1=Lng0+D×[sin(π×angle/180)/(r×π×cos(π×Lat0/180)/180)]；
lat1 is the latitude of the pollution center; lat0 is the latitude of the particulate radar, and rd is the actual geographic distance corresponding to a longitude; lng1 is the longitude of the center of the contaminant; lng0 is the latitude of the particulate radar; r is the earth radius;
d is a distance value corresponding to a distance point number n of the central position, d=n×f, f is a distance resolution of the radar detection of the particulate matter, and n is a distance point number of the central position;
angle is the angle value corresponding to the azimuth number m of the center position, and m is the azimuth number of the center position.
Preferably, in step S3, the searching method for the contaminated section is specifically as follows:
s31, initializing a section counting variable c=0, a section starting index variable l=1, and a polluted section statistics queue Sn; wherein, the index is a distance point, and the index value is a distance point serial number;
s32, starting from the interval start index variable L, judging each index, namely each distance point in sequence,
if the current distance point, i.e. the pollution level of the current index, is low, the step S33 is skipped;
if the current distance point, i.e. the pollution level of the current index, is high, updating the value of the interval counting variable C to be the difference value between the current index value and the interval starting index variable L plus 1, and then judging the next index, i.e. the next distance point, until the index with low pollution level is judged, and jumping to the step S33;
s33, judging the value of the interval counting variable C,
if C is more than or equal to a, considering the current distance point as the ending position of the current pollution interval, and adding the information of the current distance point and the interval counting variable C to a pollution interval counting queue Sn, namely, the current pollution interval is formed by the first C distance points of the current distance point; then updating the interval counting variable C to 0, updating the interval starting index variable L to the next index, returning to the step S32, and carrying out the next interval searching;
if C < a, the current interval is considered not to form a polluted interval, the value of the current interval counting variable C is updated to 0, the interval starting index variable L is updated to the next index, and the step S32 is returned to perform the next interval search;
s34, until the last distance point is judged, counting the queues Sn according to the pollution intervals, and obtaining all the pollution intervals in the current azimuth.
Preferably, particulate matter concentration data at 3000 distance points are acquired for each azimuth, a=4.
Preferably, in step S6, the area scanned by the particulate radar within 1 minute is used as a primary contaminant monitoring and positioning area, that is, after the particulate concentration data of z directions acquired by the radar scanning for 1 minute is obtained in a cumulative way, a matrix is constructed, the contaminated area is searched, and the location of the contaminated center is positioned.
Preferably, the camera, the particulate radar and the unmanned aerial vehicle are controlled through network linkage.
The invention has the advantages that:
(1) The invention can effectively monitor and position the pollution in real time in the scanning area, find out the pollution area and position the pollution center; and the pollution condition in the current scanning direction is analyzed and recorded in real time in the scanning process, so that the monitoring efficiency and traceability are improved.
(2) The invention adopts computer algorithm processing to calculate the distance point with high pollution degree, and can acquire the interval and the area with high pollution degree in real time for tracking processing.
(3) The invention realizes the highly automatic monitoring of the polluted area by using the camera and the unmanned aerial vehicle in a remote network linkage way, and compared with the traditional manual monitoring means, the monitoring of the invention is more three-dimensional and business.
(4) The invention provides a radar-based pollution monitoring and positioning method which can be widely used in the radar monitoring process and is used for carrying out real-time online scanning and monitoring on various pollution high-incidence areas to obtain pollution early-warning information with high timeliness.
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FIG. 1 is a flow chart of a method for pollution monitoring and positioning based on particulate radar.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In this embodiment, select suitable position that does not have shielding, erect particulate matter radar and high altitude and watch the camera, arrange LAN linkage particulate matter radar, high altitude and watch camera and unmanned aerial vehicle, control particulate matter radar and camera synchronous rotation, and the camera is the same with the pitch angle of particulate matter radar.
As shown in fig. 1, a pollution monitoring and positioning method based on a particulate radar includes the following steps:
s1, fixing a pitch angle of the particulate radar and setting a stepping angle of azimuth scanning. The particle radar scans along the current azimuth to obtain particle concentration data at different distance points on the current azimuth.
In the present embodiment, the particulate matter concentration data at 3000 distance points is acquired, and the particulate matter concentration data includes the concentration value of PM2.5 and the concentration value of PM 10.
S2, judging the pollution degree of each distance point according to the particle concentration data of different distance points in the current direction, and if the particle concentration of a certain distance point is greater than or equal to a set threshold value, the pollution degree of the distance point is high; if the concentration of particulate matter at a certain distance point is less than the set threshold, the pollution level at that distance point is low.
In this embodiment, if the concentration value of PM2.5 at a certain distance point is greater than or equal to a set first threshold value, or the concentration value of PM10 is greater than or equal to a set second threshold value, the pollution level at that distance point is high; otherwise, the contamination level at this distance point is low.
S3, searching a pollution interval in the current azimuth according to the pollution degree of each distance point in the current azimuth; the contamination section is a section composed of a or more consecutive distance points having a high contamination level.
In this embodiment, a=4, i.e. the contaminated zone contains at least 4 distance points with high continuous contamination level, so as to exclude the interference of single or partial abnormal constant value.
In this embodiment, the searching method for the contaminated zone is specifically as follows:
s31, initializing a section counting variable c=0, a section starting index variable l=1, and a polluted section statistics queue Sn; wherein, the index is a distance point, and the index value is a distance point serial number;
s32, starting from the interval start index variable L, judging each subsequent index, namely each distance point in sequence,
if the current distance point, i.e. the pollution level of the current index, is low, the step S33 is skipped;
if the pollution degree of the current distance point, namely the current index, is high, updating the value of the interval counting variable C to be the difference value between the current index and the interval starting index variable L plus 1, and then judging the next index; step S33 is skipped until the index with low pollution degree is judged;
s33, judging the value of the interval counting variable C,
if C is more than or equal to 4, considering that the current pollution interval is formed, namely the range of the current pollution interval is larger, and the current distance point is the ending position of the current pollution interval, firstly adding the information of the current distance point and the interval counting variable C into the pollution interval counting queue Sn, namely the current pollution interval is formed by the previous C distance points of the current distance point; then updating the interval counting variable C to 0, updating the interval starting index variable L to the next index, returning to the step S32, and carrying out the next interval searching;
if C <4, the current interval is considered not to form a polluted interval, the value of the current interval counting variable C is updated to 0, the interval starting index variable L is updated to the next index, and the step S32 is returned to perform the next interval search;
s34, until the last distance point is judged, counting the queues Sn according to the pollution intervals, and obtaining all the pollution intervals in the current azimuth.
And S4, if a pollution zone exists in the current azimuth, controlling the camera to take a picture towards the current azimuth according to the pitch angle of the particulate radar, and obtaining a pollution image of the current azimuth.
The camera is a high-altitude lookout camera, rotates synchronously with the particulate matter radar, and has the same pitch angle with the particulate matter radar. In this embodiment, the stepping angle of the azimuth scanning is 2 °.
S5, the particle radar sequentially scans all the directions according to the stepping angle to obtain particle concentration data of points at different distances in all the directions, sequentially judges the pollution degree of the points at all the distances in all the directions according to the mode of the steps S2-S4, searches the pollution interval in all the directions and obtains pollution images of all the directions.
S6, constructing a matrix A according to the pollution degree of each distance point in each azimuth. Row i of the matrix represents the azimuth sequence number, i.e., the ith azimuth; column j of the matrix represents the distance point number, i.e., the j-th distance point; the element value of the j-th element Aij of the i-th row in the matrix represents the pollution level at the j-th distance point on the i-th azimuth, the element value of 1 represents high pollution level, and the element value of 0 represents low pollution level.
In this embodiment, the particle radar continuously scans 6 orientations, which takes about 1 minute, so that a two-dimensional matrix is constructed after accumulating the particle concentration data of 6 orientations, and the 6-orientation scanning area is used as a pollutant monitoring and positioning area to search for a pollution area and position a pollution center.
S7, searching a connected domain in the matrix, namely a polluted region, and searching the central position of the connected domain. The connected domain is a region composed of b or more elements each having an element value of 1 adjacent to each other. The azimuth sequence number corresponding to the central position of the connected domain is m, and the distance point sequence number is n.
In this embodiment, the connected domain is set as a square region, the connected domain, that is, the square region is found in a dynamic programming manner, and then the center position of the connected domain is determined, and the specific manner can be referred to the prior art.
S8, obtaining the position of the pollution center according to the azimuth sequence number and the distance point sequence number corresponding to the center position of the connected domain.
The location of the contaminated center includes a latitude Lat1 and a longitude Lng1, wherein,
Lat1=Lat0+D×cos(π×angle/180)/rd；
Lng1=Lng0+D×[sin(π×angle/180)/(r×π×cos(π×Lat0/180)/180)]；
lat1 is the latitude of the pollution center; lat0 is the latitude of the particulate radar; rd is the actual geographic distance corresponding to a longitude, and the unit is meter; lng1 is the longitude of the center of the contaminant; lng0 is the latitude of the particulate radar; r is the radius of the earth in meters;
d is a distance value corresponding to a distance point number n of the central position, d=n×f, f is a distance resolution of the radar detection of the particulate matter, and n is a distance point number of the central position;
angle is the angle value corresponding to the azimuth number m of the center position, and m is the azimuth number of the center position.
S9, the unmanned aerial vehicle is scheduled to go to the position of the pollution center, and the pollution center is photographed to obtain a pollution center image.
The invention adopts computer algorithm processing to calculate the distance point with high pollution degree, and can acquire the interval and the area with high pollution degree in real time for tracking processing; therefore, the method can effectively monitor and position the pollution in real time in the scanning area, find out the pollution area and position the pollution center; and the pollution condition in the current scanning direction is analyzed and recorded in real time in the scanning process, so that the monitoring efficiency and traceability are improved.
The invention realizes the highly automatic monitoring of the polluted area by using the camera and the unmanned aerial vehicle in a remote network linkage way, and compared with the traditional manual monitoring means, the monitoring of the invention is more three-dimensional and business.
The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. The pollution monitoring and positioning method based on the particulate radar is characterized by comprising the following steps of:
s1, fixing a pitch angle of a particulate radar, and scanning along a current azimuth to obtain particulate concentration data at different distance points in the current azimuth;
s2, judging the pollution degree of each distance point in the current azimuth according to the particle concentration data of each distance point in the current azimuth, and if the particle concentration of a certain distance point is greater than or equal to a set threshold value, the pollution degree of the distance point is high; if the concentration of the particulate matters at a certain distance point is smaller than a set threshold value, the pollution degree at the certain distance point is low;
s3, searching a pollution interval in the current azimuth according to the pollution degree of each distance point in the current azimuth; the pollution interval is an interval formed by a or more than a continuous distance points with high pollution degree;
s4, if a pollution zone exists in the current azimuth, controlling a camera to take a picture towards the current azimuth according to the pitch angle of the particulate radar, and obtaining a pollution image of the current azimuth;
s5, the particle radar sequentially scans all the directions according to the stepping angle to obtain particle concentration data of points at different distances in all the directions, sequentially judges the pollution degree of the points at all the distances in all the directions according to the mode of the steps S2-S4, searches the pollution interval in all the directions and obtains pollution images of all the directions;
s6, constructing a matrix A according to the pollution degree of each distance point in each azimuth; row i of the matrix represents the azimuth sequence number, i.e., the ith azimuth; column j of the matrix represents the distance point number, i.e., the j-th distance point; the element value of the jth element Aij of the ith row and jth column in the matrix represents the pollution level of the jth distance point on the ith azimuth, the element value of 1 represents high pollution level, and the element value of 0 represents low pollution level;
s7, searching a connected domain in the matrix, namely a polluted region, and searching the central position of the connected domain; the connected domain is a region composed of b or more elements each having an element value of 1 adjacent to each other;
s8, obtaining the position of the pollution center according to the azimuth sequence number and the distance point sequence number corresponding to the center position of the connected domain;
s9, the unmanned aerial vehicle is scheduled to go to the position of the pollution center, and the pollution center is photographed to obtain a pollution center image.
2. The method for monitoring and positioning pollution based on a particulate radar according to claim 1, wherein in step S4, the camera and the particulate radar are fixed at the same position, have the same pitch angle, and rotate synchronously.
3. The method for monitoring and locating pollution based on particulate radar of claim 1, wherein the particulate concentration data includes a concentration value of PM2.5 and a concentration value of PM 10;
in step S2, if the concentration value of PM2.5 at a certain distance point is greater than or equal to the set first threshold value, or the concentration value of PM10 is greater than or equal to the set second threshold value, the pollution level at that distance point is high; otherwise, the contamination level at this distance point is low.
4. The method for radar-based pollution monitoring and positioning of claim 1, wherein the location of the pollution center in step S8 comprises latitude Lat1 and longitude Lng1, wherein,
Lat1=Lat0+D×cos(π×angle/180)/rd；
Lng1=Lng0+D×[sin(π×angle/180)/(r×π×cos(π×Lat0/180)/180)]；
lat1 is the latitude of the pollution center; lat0 is the latitude of the particulate radar, and rd is the actual geographic distance corresponding to a longitude; lng1 is the longitude of the center of the contaminant; lng0 is the latitude of the particulate radar; r is the earth radius;
d is a distance value corresponding to a distance point number n of the central position, d=n×f, f is a distance resolution of the radar detection of the particulate matter, and n is a distance point number of the central position;
angle is the angle value corresponding to the azimuth number m of the center position, and m is the azimuth number of the center position.
5. The method for monitoring and positioning pollution based on particulate radar according to claim 1, wherein in step S3, the searching mode of the pollution interval is specifically as follows:
s31, initializing a section counting variable c=0, a section starting index variable l=1, and a polluted section statistics queue Sn; wherein, the index is a distance point, and the index value is a distance point serial number;
s32, starting from the interval start index variable L, judging each index, namely each distance point in sequence,
if the current distance point, i.e. the pollution level of the current index, is low, the step S33 is skipped;
if the current distance point, i.e. the pollution level of the current index, is high, updating the value of the interval counting variable C to be the difference value between the current index value and the interval starting index variable L plus 1, and then judging the next index, i.e. the next distance point, until the index with low pollution level is judged, and jumping to the step S33;
s33, judging the value of the interval counting variable C,
if C is more than or equal to a, considering the current distance point as the ending position of the current pollution interval, and adding the information of the current distance point and the interval counting variable C to a pollution interval counting queue Sn, namely, the current pollution interval is formed by the first C distance points of the current distance point; then updating the interval counting variable C to 0, updating the interval starting index variable L to the next index, returning to the step S32, and carrying out the next interval searching;
if C < a, the current interval is considered not to form a polluted interval, the value of the current interval counting variable C is updated to 0, the interval starting index variable L is updated to the next index, and the step S32 is returned to perform the next interval search;
s34, until the last distance point is judged, counting the queues Sn according to the pollution intervals, and obtaining all the pollution intervals in the current azimuth.
6. A method of monitoring and locating pollution based on particulate radar according to claim 1 or 5, wherein the concentration of particulate data at 3000 distance points is acquired in each azimuth, a=4.
7. The method for monitoring and positioning pollution based on particulate matter radar according to claim 1, wherein in step S6, the area scanned by the particulate matter radar within 1 minute is used as a pollutant monitoring and positioning area, i.e. after the particulate matter concentration data of z directions acquired by scanning the radar for 1 minute is obtained in a cumulative way, a matrix is constructed, the pollution area is searched, and the position of the pollution center is positioned.
8. The method for monitoring and positioning pollution based on the particulate radar according to claim 1, wherein the particulate radar, the camera and the unmanned aerial vehicle are controlled through network linkage.
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