基于低空飞艇的突发事件应急监测系统

摘要

Steady and highly efficient high spot monitoring has a significant effect during the emergency response progress when emergency happens. This paper presents a real-time emergency response monitoring system based on a low-flying airship to realize real-time supervision under complex circumstance. The system is composed by three main parts:video pre-processing and target tracking, target aiming and location, remote sensor monitoring system.Pre-processing method based on video stabilization and target tracking technology has been implanted to the system to enhance the monitoring and tracking functions. Harris corner detector method has been employed to estimate motions between two consecutive frames in order to stabilize the video; motion filtering algorithm based on Kalman-average filter has been implemented to separate the intentional and unintentional motion with the help of GPS track path; while target tracking algorithm based on Mean Shift method has been implemented to track the target. At the same time, a 3-dimension platform with airship mounted GPS system and compass system have been used to aim the target by adjusting the angles of videography platform. Little airdrop sensors have been implemented to solve the remote detecting and monitoring. The emergency monitoring system using airship as platform introduced in this paper provides a new real-time emergency monitoring solution, and will strongly support emergency response.%稳定高效的高点监控对应急处置有非常重要的作用.该文提出了一种基于低空飞艇的突发事件应急监测系统,实现在复杂环境下应急现场的实时监测.系统包含三个部分:视频预处理和目标追踪;目标的自动照准和定位;远程探测监测.利用稳像和跟踪技术实现视频预处理和目标跟踪,应用基于Harris角点的帧间运动估计稳定视频,使用基于GPS航迹信息的Kalman-平均滤波方法分离主观运动和非主观运动,使用基于Mean Shift方法跟踪目标.通过三维云台电机的自动控制以及艇载GPS和三维罗盘实现对目标的自动照准及定位,利用小型投掷系统实现远程探测监测.该文提出的低空飞艇应急监测系统为突发事件现场实时监测提供了新的有效的解决方案,为应急响应提供了有力支持.