震后基于无人机快速三维定位被困人员模型研究

杜浩国; 孙志; 杜浩标; 张方浩; 汤筱麒; 卢永坤; 曹彦波; 邓树荣; 吕佳丽; 和仕芳

doi:10.11899/zzfy20210220

震后基于无人机快速三维定位被困人员模型研究

doi: 10.11899/zzfy20210220

1.
云南省地震局，昆明 650224
2.
中国人民解放军31663部队，昆明 650224

基金项目: 云南省地震局青年基金项目(2021K01)；云南省地震局“传帮带”项目(CQ3－2021001)

详细信息

作者简介:
杜浩国，男，生于1991年。工程师。主要从事地震应急救援、无人机灾情获取和地震灾害损失评估方面的研究。E-mail：1364125834@qq.com

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出版历程
- 收稿日期: 2020-09-23
- 刊出日期: 2021-06-30

Research on the Model of UAV Fast 3D Positioning of Trapped People after Earthquake

1.
Yunnan Earthquake Agency, Kunming 650224, Yunnan, China
2.
NO.31663 Unit of PLA, Kunming 650224, Yunnan, China

摘要

摘要: 针对震后被倒塌建筑物或滑坡埋压的被困人员进行快速定位问题，在阅读大量相关文献的基础上，以无人机遥感、地理信息空间和三维质心定位技术为基础，采用无线信号RSSI测距模型，配合影像范围内基准影像数据辅助定位，构建震后基于无人机快速三维定位被困人员模型。以红河县城区作为研究区，对城区内特定人员进行三维定位，结果表明该模型定位精度高，对震后废墟被困人员营救具有重要意义。
- 三维质心定位 /
- 无人机 /
- 遥感技术 /
- RSSI测距 /
- 地理信息空间技术
Abstract: To locate the trapped people who are buried under the collapse of buildings or landslides after the earthquake, on the basis of reading a large number of relevant literatures and based on uav remote sensing, geographic information space and three-dimensional centroid positioning technology, the wireless signal RSSI ranging model is adopted to coordinate with the reference image data in the image range for auxiliary positioning, so as to construct a set of post-earthquake rapid 3D positioning model of trapped persons based on UAV. Taking Honghe County urban area as the research area, the 3D positioning of specific personnel in the urban area is carried out. The results show that the model has high positioning accuracy and is of great significance to rescue the trapped people after the earthquake.
- 3D centroid positioning technology /
- UAV /
- Remote sensing technology /
- RSSI ranging /
- Geospatial technology

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图 1 震后基于无人机快速三维定位被困人员模型流程图

Figure 1. The flow chart of the model of the trapped people based on the uav fast 3D positioning after the earthquake

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图 2 理想状态下RSSI与距离对应关系

Figure 2. The correspondence between RSSI and distance value under ideal state

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图 3 理想状态下无人机三维圆周定位模型

Figure 3. The ideal positioning 3D model of UAV circumferential

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图 4 质心定位模型

Figure 4. The positioning model of center of mass

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图 5 基础模型

Figure 5. The fundamental model (a)、The vector diagram of house frame based on geographic information space technology (b)、The 3D vector topography of Honghe county (c)、The model of fast location of trapped people after earthquake (d)

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图 6 无人机搜寻路径

Figure 6. The search path of UAV

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图 7 本研究RSSI与距离对应关系

Figure 7. The correspondence between RSSI and distance value in this study

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图 8 三维定位可视化模型结果

Figure 8. The model results of 3D localization visualization

下载: 全尺寸图片幻灯片

表 1 模型结果

Table 1. The results of model algorithm

序号	MAC地址	物理层协议	RSSI	信号质量	平均信号质量	频率	通道	信息数	最大速度/ Mbps	带宽/ MHz	第一次检测	最后一次检测	是否连接	经度/°	纬度/°	海拔/m
1	68-A0-3E-D8-39-68	802.11g/n/ac	−70.6357	65	63	2.462	11	16	390	20	09:23:09	09:23:15	否	102.418763	23.373135	989.23
2	98-E7-F5-88-9A-53	802.11g/n	−79.6666	58	57	2.462	11	13	450	20	09:26:14	09:26:30	是	102.421803	23.375657	978.75
3	B8-94-36-1C-17-B6	802.11g/n	−83.6453	51	49	2.437	6	13	144	20	09:29:40	09:30:01	否	102.424242	23.373963	971.17
4	B8-94-36-49-97-38	802.11g/n	−88.2236	49	47	2.462	11	13	144	20	09:33:08	09:33:21	否	102.403974	23.372365	966.57
5	E6-8F-F4-93-F0-80	802.11g/n	−88.8517	49	48	2.462	11	16	144	20	09:36:25	09:36:31	否	102.405390	23.373218	952.45
6	96-E5-DE-7C-56-C6	802.11g/n	−86.8687	47	45	2.462	11	15	144	20	09:39:35	09:39:45	否	102.406310	23.371309	959.84
7	88-11-96-3A-C3-8A	802.11g/n	−82.6973	39	38	2.437	6	12	72	20	09:42:43	09:42:59	否	102.408521	23.370730	957.34
8	AE-26-9B-CA-D1-96	802.11g/n	−83.1799	41	40	2.437	6	17	144	20	09:45:21	09:45:35	否	102.409911	23.372194	963.18
9	78-44-FD-C4-AC-C7	802.11g/n	−78.0151	60	58	2.462	11	19	300	40	09:48:31	09:48:45	否	102.412029	23.372019	973.19
10	14-3C-C3-6E-35-CE	802.11g/n/ac	−70.6356	65	64	2.462	11	16	390	20	09:51:16	09:51:42	否	102.414051	23.370901	972.57
11	80-8A-8B-FD-6A-9F	802.11g/n/ac	−70.0237	63	62	2.417	2	16	780	20	09:54:20	09:54:33	否	102.417008	23.372129	981.41
12	82-89-17-C4-A2-47	802.11g/n	−79.3526	57	56	2.437	6	12	300	40	09:57:27	09:57:46	否	102.418084	23.372371	989.17
13	C6-8B-BD-37-4C-7B	802.11g/n	−81.1323	40	38	2.437	6	16	144	20	10:00:02	10:00:10	否	102.418932	23.371930	989.87
14	20-54-FA-58-35-DA	802.11g/n	−85.5554	48	46	2.412	1	15	72	20	10:03:09	10:03:15	否	102.417509	23.371243	979.23
15	88-F8-72-98-3F-A1	802.11g/n/ac	−90.0235	34	33	2.437	6	15	390	20	10:06:45	10:06:58	否	102.416266	23.371261	976.01
16	60-83-34-92-AC-F5	802.11g/n	−88.2236	38	37	2.437	6	16	300	40	10:09:19	10:09:28	否	102.411133	23.370793	966.73
17	88-11-96-3A-C3-8A	802.11g/n	−84.9493	40	39	2.437	6	12	72	20	10:12:27	10:12:35	否	102.409092	23.369330	953.21
18	EC-8C-9A-BD-D1-4C	802.11g/n	−88.8516	49	47	2.412	1	16	300	40	10:17:15	10:17:37	否	102.412496	23.368698	959.53
19	24-31-54-3B-C3-D1	802.11g/n	−85.3565	40	39	2.437	6	13	300	40	10:19:09	10:19:27	否	102.423898	23.368756	968.45
20	60-83-34-AE-51-DC	802.11g/n	−84.5289	40	39	2.412	1	17	300	40	10:57:03	10:57:33	否	102.413991	23.367852	957.33
21	80-8A-8B-FD-6A-9B	802.11g/n/ac	−86.8683	38	37	2.412	1	16	780	20	11:00:07	11:00:35	否	102.416923	23.367627	967.76
22	20-DA-22-3B-0E-60	802.11g/n/ac	−89.1547	36	35	2.437	6	16	390	20	11:03:30	11:03:44	否	102.419275	23.366158	969.59
23	D6-CB-D1-9D-A7-A6	802.11g/n	−88.8617	36	34	2.462	11	16	144	20	11:06:59	11:07:11	否	102.422893	23.366153	963.65
24	46-BD-E9-8A-A8-4C	802.11g/n	−91.3542	35	32	2.437	6	14	144	20	11:10:05	11:10:23	否	102.419093	23.365337	956.22
25	F2-79-60-E9-B0-E9	802.11g/n	−70.6357	64	63	2.437	6	17	144	20	11:13:53	11:14:11	否	102.424897	23.365382	957.51
26	FC-AB-90-24-E0-D3	802.11g/n/ac	−79.6666	53	51	2.462	11	16	390	20	11:16:33	11:17:23	否	102.426891	23.365028	948.37

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表 2 模型定位被困人员位置与实际位置对比结果

Table 2. Comparison results of position of trapped people located by model and real position

序号	无人机定位模型结果				实际坐标位置				误差率P[i,j]/%
序号	经度X[i]	纬度Y[i]	海拔Z[i]	R[i]	经度X[j]	纬度Y[j]	海拔Z[j]	R[j]	误差率P[i,j]/%
1	102.418763	23.373135	989.23	994.7923901	102.418441	23.373315	989.18	994.7426407	0.500 00
2	102.421803	23.375657	978.75	984.3719874	102.421325	23.375567	977.94	983.5665654	8.180 00
3	102.424242	23.373963	971.17	976.8358288	102.424489	23.373317	972.15	977.8101607	9.960 00
4	102.403974	23.372365	966.57	972.2604621	102.403999	23.372234	967.16	972.8470105	6.020 00
5	102.405390	23.373218	952.45	958.2244903	102.405418	23.373256	953.00	958.7711816	5.700 00
6	102.406310	23.371309	959.84	965.5703475	102.407621	23.371267	959.84	965.5704855	0.001 00
7	102.408521	23.370730	957.34	963.0854437	102.408168	23.370213	956.98	962.727542	3.710 00
8	102.409911	23.372194	963.18	968.8909958	102.409925	23.372314	964.21	969.9149354	10.550 00
9	102.412029	23.372019	973.19	978.8428122	102.412834	23.372526	973.54	979.190888 0	3.550 00
10	102.414051	23.370901	972.57	978.226580 0	102.414712	23.370974	973.03	978.6839922	4.670 00
11	102.417008	23.372129	981.41	987.0162552	102.417332	23.372826	980.89	986.4992605	5.240 00
12	102.418084	23.372371	989.17	994.7326377	102.418471	23.372490	988.99	994.5536871	1.790 00
13	102.418932	23.371930	989.87	995.4288029	102.418597	23.371661	989.14	994.7028416	7.290 00
14	102.417509	23.371243	979.23	984.848696 0	102.417615	23.371329	979.78	985.395573 0	5.540 00
15	102.416266	23.371261	976.01	981.6469974	102.416398	23.371891	976.31	981.945304 0	3.030 00
16	102.411133	23.370793	966.73	972.420242 0	102.411361	23.370335	966.55	972.2413085	1.840 00
17	102.409092	23.369330	953.21	958.9802145	102.409441	23.369287	954.33	960.0935194	11.590 00
18	102.412496	23.368698	959.53	965.2627809	102.412183	23.368859	958.97	964.7060794	5.770 00
19	102.423898	23.368756	968.45	974.1314881	102.423374	23.368153	968.45	974.1314186	0.00071
20	102.413991	23.367852	957.33	963.0760152	102.413509	23.367290	957.78	963.5232667	4.640 00
21	102.416923	23.367627	967.76	973.4447543	102.416226	23.367312	967.23	972.9177702	5.410 00
22	102.419275	23.366158	969.59	975.2642992	102.419777	23.366435	969.88	975.5526718	2.950 00
23	102.422893	23.366153	963.65	969.3594527	102.422337	23.366123	964.12	969.8266264	4.810 00
24	102.419093	23.365337	956.22	961.9731275	102.419999	23.365376	955.77	961.5259174	4.650 00
25	102.424897	23.365382	957.51	963.2560411	102.424413	23.365891	957.12	962.8683293	4.020 00
26	102.426891	23.365028	948.37	954.1712894	102.426731	23.365581	949.13	954.9266686	7.910 00
27	—	—	—	—	102.418431	23.372410	958.96	930640.0862	100.000 00
28	—	—	—	—	102.418521	23.371634	979.18	969829.2591	100.000 00
29	—	—	—	—	102.417634	23.371334	969.73	951411.8639	100.000 00
30	—	—	—	—	102.416367	23.371877	976.32	964 236.0993	100.000 00
平均误差率/%									4.970 00

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