CN116308863A - Agricultural information service platform based on Beidou satellite positioning - Google Patents
Agricultural information service platform based on Beidou satellite positioning Download PDFInfo
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Abstract
The invention discloses an agricultural information service platform based on Beidou satellite positioning, wherein a Beidou satellite positioning system positions and determines position information and regional division information of seed plants and farms; the information acquisition system acquires climate and soil information of different areas, the data processing system acquires position information and area division information, and climate and soil information of different areas, and performs data processing on the acquired information to acquire plant yield and culture yield of different areas nationwide in real time; the prediction system predicts the prices of the seed plants and the farms based on the seed plant yield and the farms yield to obtain a predicted price; and the agricultural planning system performs planting and breeding planning on the seed plants and the farms in the future based on the seed plant yield and the farms yield, and the information display system displays the estimated price and the planting and breeding planning. And more scientific information is provided by combining the Beidou satellite positioning system so as to conveniently utilize more comprehensive and intelligent information to serve the agricultural industry.
Description
Technical Field
The invention relates to the technical field of information service platforms, in particular to an agricultural information service platform based on Beidou satellite positioning.
Background
Agriculture is the basis of national economy, china is a large agricultural country, and with the improvement of the modernization level of agriculture, various information and consultation services such as science and technology, management, market, finance, society and the like are required to be obtained, and the information of agricultural popularization is improved by agricultural informatization.
The agricultural information platform is a comprehensive professional platform integrating functions of electronic commerce transaction service, information exchange, price release and the like related to the agricultural industry.
However, the existing agricultural information platform only provides some real-time agricultural status information, or related policies, etc., but cannot effectively perform unified management for the agricultural industry in a large area of the whole country.
Disclosure of Invention
The invention provides an agricultural information service platform based on Beidou satellite positioning, which aims to solve the problems in the prior art.
The invention provides an agricultural information service platform based on Beidou satellite positioning, which comprises: the system comprises a Beidou satellite positioning system, an information acquisition system, a data processing system, a prediction system, an agricultural planning system and an information display system;
the Beidou satellite positioning system positions and determines the position information and the area division information of the seed plants and the farms; the information acquisition system acquires climate and soil information of different areas, the data processing system acquires position information and area division information and climate and soil information of different areas, and performs data processing on the acquired information to acquire plant yield and culture yield of different areas nationwide in real time; the prediction system predicts the prices of the seed plants and the farms based on the seed plant yield and the farms yield to obtain a predicted price; the agricultural planning system performs planting and breeding planning on the seed plants and the farms in the future based on the seed plant yield and the farms yield, and the information display system displays the estimated price and the planting and breeding planning.
Preferably, the area division information includes: species of plants and planting areas corresponding to different species of plants; or the type of the culture and the corresponding culture areas of different types of farms;
the planting and breeding plan comprises: planning a planted area, planning a planted type and planning a corresponding relation between the planted area and the type; planning a region of the culture, planning a variety of the culture, planning the number of the culture and planning the corresponding relation between the culture region and the variety; alternatively, the planning is performed on the seed plants and the plant-growing areas of different areas.
Preferably, the agricultural planning system further comprises:
the planning prediction module is used for taking a planting and breeding plan as input of a learning model, and learning the strategy prediction price and the strategy prediction yield of the planting plants and the cultivars based on the planting and breeding plan through the learning model;
the planning adjustment module is used for obtaining a difference value through the comparison calculation of the strategy predicted price and the estimated price and the comparison calculation of the estimated yield and the strategy predicted yield, and adjusting the planting and breeding plan according to the difference value.
Preferably, the system further comprises a time node monitoring system for monitoring different time nodes; the time node monitoring system comprises:
The planting node monitoring module is used for obtaining actual planting time of different plants in different areas of the country through the Beidou satellite positioning system, wherein the actual planting time is obtained by obtaining germination time of the plants through the Beidou satellite positioning system, obtaining time required from sowing to germination of the corresponding plants, and determining the actual planting time based on the germination time and the required time;
the harvesting node monitoring module is used for obtaining actual harvesting time of different plants in different areas of the country through the bucket satellite positioning system, wherein the actual harvesting time is obtained by harvesting the plants through the Beidou satellite positioning system;
the reminding unit is used for determining the average planting time and the average harvesting time of the same type of plants in different areas of the country based on the actual planting time or the actual harvesting time, and forming planting or harvesting reminding information when the average planting time and the average harvesting time are reached, so as to remind farmers of timely planting or harvesting; the reminding information is displayed through an information display system;
the average planting time is set as the average planting time when the coverage area for planting the same plant in the same latitude area exceeds a set first area threshold value; the average harvesting time is set as the average harvesting time when the harvesting area for planting the same plant in the same latitude area exceeds a set second area threshold.
Preferably, the Beidou satellite positioning system comprises:
the positioning module is used for positioning the national agricultural industry area;
the regional division module is used for dividing regions of national agricultural industry regions according to different longitudes and latitudes, and the same regions are divided, so that the climatic environments are the same and the types of plants or cultures are the same;
the block dividing module is used for dividing blocks of different kinds of plants in the same area, and the kinds of the plants in different areas are different;
the block area determining module is used for obtaining the area of each block through the positioning module, summarizing the areas of the blocks of the same plant in the same area and obtaining the planting areas of different plants in the same area.
Preferably, the Beidou satellite positioning system comprises: the positioning model is used for obtaining a position structure model of the agricultural industry area through the Beidou satellite positioning system;
the positioning model comprises:
the correcting unit is used for correcting the positioning information of the Beidou satellite positioning system to obtain corrected position information;
an area construction unit for determining the area of the plant or farm by using an area construction model based on the corrected position information;
The area correction unit is used for verifying and correcting the area of the area through the sensor, feeding back the corrected value to the area construction model and correcting the area of the area;
and an area center point unit for determining the center point of the area and setting the determined center point as position information.
Preferably, the beidou satellite positioning system further comprises:
the positioning precision optimizing module is used for carrying out positioning calculation by adopting an optimized least square method, so that the positioning precision is improved; the optimized least square method adds a weight coefficient to estimate the solution of the unknown quantity according to the existing observed value until the positioning error is lower than a given threshold value;
the positioning accuracy optimization module comprises:
the data setting unit is used for setting initial values and threshold values of the positioning position and the receiver clock error;
the weight value setting unit is used for adding weight values to pseudo-range observation values proposed after receiving a plurality of satellite signals;
the pseudo-range positioning equation construction unit is used for constructing a pseudo-range positioning equation and carrying out linear processing on the pseudo-range positioning equation to obtain a linear equation;
the pseudo-range deviation value calculation unit is used for calculating satellite pseudo-range deviation values through a weighted least square method;
The judging unit is used for judging whether the pseudo-range deviation value is smaller than a threshold value, and if so, acquiring a pseudo-range observation value with high reliability; if the pseudo-range deviation value is larger than the threshold value, solving the linear equation again until the pseudo-range deviation value is smaller than the threshold value.
Preferably, the weight value setting unit includes:
a pseudo-range deviation value subunit, configured to set pseudo-range deviation values of a plurality of satellites, where the pseudo-range deviation values are differences between the pseudo-range values before correction and the pseudo-range values after correction;
an array forming subunit, configured to set the number m of satellites, and form an array formed by m elements according to the sequence from small to large of all the pseudo-range offset values;
a new array forming subunit, configured to determine intermediate elements for the array, and subtract each element in the array from the intermediate elements to obtain a new array with m new elements;
and the weight value construction subunit is used for constructing the weight value of each satellite based on the new array so as to correct the pseudo-range related errors of different satellites at the same moment, which are not completely corrected by the mathematical model.
Preferably, the weight value setting unit includes: a fused pseudo-range determining subunit, configured to determine a fused pseudo-range, and cancel ionospheric delay;
the fused pseudo-range determination subunit includes:
The state model building unit is used for building a state model, and the state model is embodied by a state vector;
and a state equation determining unit that determines a state equation based on the kinematic model and the correlation of the system driving noise and the state, the state equation being as follows:
x t+1 ＝f(x t ，w t )
wherein x is t Representing state vectors, w t Representing system drive noise;
and the fused pseudo-range calculation unit is used for calculating and obtaining the fused pseudo-range based on the double-frequency ionosphere pseudo-range calculation method.
Preferably, the data processing system learns based on a deep neural learning network by obtaining position information and region division information of a current plant and a farm of the Beidou satellite positioning system and position information and region division information of a historical plant and a farm, and obtains change rule features of all positions, wherein the change rule features comprise: the change rule features of the species of the plants and the change rule features of the planting areas of the plants; and obtaining predicted plant yield based on the change rule, the position information and the regional division information of the current plant and the farm.
Compared with the prior art, the invention has the following advantages:
the invention provides an agricultural information service platform based on Beidou satellite positioning, which effectively reflects the regional characteristics of the agricultural industry on the agricultural information service platform through a satellite positioning technology by arranging a Beidou satellite positioning system, obtains a lot of information in the agricultural industry only through a positioning technology without manual statistics through the satellite positioning technology, such as the area of a seed plant, the total yield of a certain area according to the area and the average yield, and the like, and can obtain the total cultivation yield according to the occupied area of a cultivation farm, the area and the cultivation density, and the average yield is different according to the different densities of different plants on the same area, and can determine the planting area and the distribution condition of all plants through the Beidou satellite positioning technology, collect all agricultural industry information, and determine the current price or estimated price, and the like through comprehensive calculation. The existing method aims at the planting area or the cultivation area, is generally obtained by a local manual statistics and upward reporting mode, and the process takes a long time and is easy to have the problems of statistics errors or data transmission errors. By adopting the scheme, the position information obtained by the satellite positioning system and the corresponding area region or region division result of the seed plants or the culture are accurate and scientific, and the problem of data errors caused by manual operation can be avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a schematic structural diagram of an agricultural information service platform based on Beidou satellite positioning in an embodiment of the invention;
FIG. 2 is a schematic diagram of a time node monitoring system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning accuracy optimization module in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides an agricultural information service platform based on Beidou satellite positioning, referring to FIG. 1, the agricultural information service platform based on Beidou satellite positioning comprises: the system comprises a Beidou satellite positioning system, an information acquisition system, a data processing system, a prediction system, an agricultural planning system and an information display system;
the Beidou satellite positioning system positions and determines the position information and the area division information of the seed plants and the farms; the information acquisition system acquires climate and soil information of different areas, the data processing system acquires position information and area division information and climate and soil information of different areas, and performs data processing on the acquired information to acquire plant yield and culture yield of different areas nationwide in real time; the prediction system predicts the prices of the seed plants and the farms based on the seed plant yield and the farms yield to obtain a predicted price; the agricultural planning system performs planting and breeding planning on the seed plants and the farms in the future based on the seed plant yield and the farms yield, and the information display system displays the estimated price and the planting and breeding planning.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is a Beidou satellite positioning system, an information acquisition system, a data processing system, a prediction system, an agricultural planning system and an information display system; the Beidou satellite positioning system positions and determines the position information and the area division information of the seed plants and the farms; the information acquisition system acquires climate and soil information of different areas, the data processing system acquires position information and area division information and climate and soil information of different areas, and performs data processing on the acquired information to acquire plant yield and culture yield of different areas nationwide in real time; the prediction system predicts the prices of the seed plants and the farms based on the seed plant yield and the farms yield to obtain a predicted price; the agricultural planning system performs planting and breeding planning on the seed plants and the farms in the future based on the seed plant yield and the farms yield, and the information display system displays the estimated price and the planting and breeding planning.
The beneficial effects of the technical scheme are as follows: according to the scheme provided by the embodiment, through setting the Beidou satellite positioning system, the regional characteristics of the agricultural industry are effectively reflected on the agricultural information service platform through the satellite positioning technology, manual statistics is not needed through the satellite positioning technology, and only a lot of information in the agricultural industry can be obtained through the positioning technology, such as the area of a plant, the total yield of a certain area obtained according to the area and the average yield, and the like, and the total cultivation yield can be obtained according to the cultivation industry, the occupied area of a cultivation farm, the area and the cultivation density, and the average yield is different according to the density of different plants on the same area, the planting area and the distribution condition of all plants can be determined through the Beidou satellite positioning technology, all the agricultural industry information can be summarized, the current price or the estimated price can be determined through comprehensive calculation, and the results are effectively combined with the Beidou satellite positioning system. The existing method aims at the planting area or the cultivation area, is generally obtained by a local manual statistics and upward reporting mode, and the process takes a long time and is easy to have the problems of statistics errors or data transmission errors. By adopting the scheme, the position information obtained by the satellite positioning system and the corresponding area region or region division result of the seed plants or the culture are accurate and scientific, and the problem of data errors caused by manual operation can be avoided.
In addition, the scheme is a fully intelligent platform, the data is collected or processed through an intelligent system, corresponding planning can be set, and scientific guidance is carried out on the planting industry or the cultivation industry of farmers based on the planning.
In another embodiment, the region division information includes: species of plants and planting areas corresponding to different species of plants; or the type of the culture and the corresponding culture areas of different types of farms;
the planting and breeding plan comprises: planning a planted area, planning a planted type and planning a corresponding relation between the planted area and the type; planning a region of the culture, planning a variety of the culture, planning the number of the culture and planning the corresponding relation between the culture region and the variety; alternatively, the planning is performed on the seed plants and the plant-growing areas of different areas.
The working principle of the technical scheme is as follows: the scheme adopted in this embodiment is that the region division information includes: species of plants and planting areas corresponding to different species of plants; or the type of the culture and the corresponding culture areas of different types of farms; the planting and breeding plan comprises: planning a planted area, planning a planted type and planning a corresponding relation between the planted area and the type; planning a region of the culture, planning a variety of the culture, planning the number of the culture and planning the corresponding relation between the culture region and the variety; alternatively, the planning is performed on the seed plants and the plant-growing areas of different areas.
The beneficial effects of the technical scheme are as follows: the product types cultivated or planted in different areas by adopting the scheme provided by the embodiment are different, particularly, the difference between the north and the south is more detailed, and the difference still exists in the same northern area, so that the statistics is more convenient through the positioning technology by dividing the area. In addition, planting planning and cultivation planning can be performed aiming at the planning part, and scientific guidance opinions are provided for corresponding users.
In another embodiment, the agricultural planning system further comprises:
the planning prediction module is used for taking a planting and breeding plan as input of a learning model, and learning the strategy prediction price and the strategy prediction yield of the planting plants and the cultivars based on the planting and breeding plan through the learning model;
the planning adjustment module is used for obtaining a difference value through the comparison calculation of the strategy predicted price and the estimated price and the comparison calculation of the estimated yield and the strategy predicted yield, and adjusting the planting and breeding plan according to the difference value.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the agricultural planning system further comprises: the planning prediction module is used for taking a planting and breeding plan as input of a learning model, and learning the strategy prediction price and the strategy prediction yield of the planting plants and the cultivars based on the planting and breeding plan through the learning model; the planning adjustment module is used for obtaining a difference value through the comparison calculation of the strategy predicted price and the estimated price and the comparison calculation of the estimated yield and the strategy predicted yield, and adjusting the planting and breeding plan according to the difference value.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the plan of the planting type of the corresponding planting area can be set through the planting plan, for example, if the demand of the corn is increased in a certain area under the condition that the area for planting the corn in the last year is obviously reduced, the corresponding plan is to recommend the corn to be planted in a large area in the area more suitable for planting the corn so as to coordinate the current corn yield supply and demand, and the price of the corn can be adjusted. On the basis, after setting the planting and breeding plan, if the planting and breeding plan is implemented, the corresponding yield and price are predicted, the corresponding yield and price are set as the strategy prediction price and the strategy prediction yield, and the planting and breeding plan can be adjusted according to the actual situation by comparing and calculating the strategy prediction price and the predicted price so as to meet the actual situation of the actual scene, and the rationality and the practicability of the planting and breeding plan are improved.
In another embodiment, please refer to fig. 2, further comprising a time node monitoring system for monitoring different time nodes; the time node monitoring system comprises:
the planting node monitoring module is used for obtaining actual planting time of different plants in different areas of the country through the Beidou satellite positioning system, wherein the actual planting time is obtained by obtaining germination time of the plants through the Beidou satellite positioning system, obtaining time required from sowing to germination of the corresponding plants, and determining the actual planting time based on the germination time and the required time;
The harvesting node monitoring module is used for obtaining actual harvesting time of different plants in different areas of the country through the bucket satellite positioning system, wherein the actual harvesting time is obtained by harvesting the plants through the Beidou satellite positioning system;
the reminding unit is used for determining the average planting time and the average harvesting time of the same type of plants in different areas of the country based on the actual planting time or the actual harvesting time, and forming planting or harvesting reminding information when the average planting time and the average harvesting time are reached, so as to remind farmers of timely planting or harvesting; the reminding information is displayed through an information display system;
the average planting time is set as the average planting time when the coverage area for planting the same plant in the same latitude area exceeds a set first area threshold value; the average harvesting time is set as the average harvesting time when the harvesting area for planting the same plant in the same latitude area exceeds a set second area threshold.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the system also comprises a time node monitoring system, which is used for monitoring different time nodes; the time node monitoring system comprises: the planting node monitoring module is used for obtaining actual planting time of different plants in different areas of the country through the Beidou satellite positioning system, wherein the actual planting time is obtained by obtaining germination time of the plants through the Beidou satellite positioning system, obtaining time required from sowing to germination of the corresponding plants, and determining the actual planting time based on the germination time and the required time; the harvesting node monitoring module is used for obtaining actual harvesting time of different plants in different areas of the country through the bucket satellite positioning system, wherein the actual harvesting time is obtained by harvesting the plants through the Beidou satellite positioning system; the reminding unit is used for determining the average planting time and the average harvesting time of the same type of plants in different areas of the country based on the actual planting time or the actual harvesting time, and forming planting or harvesting reminding information when the average planting time and the average harvesting time are reached, so as to remind farmers of timely planting or harvesting; the reminding information is displayed through an information display system; the average planting time is set as the average planting time when the coverage area for planting the same plant in the same latitude area exceeds a set first area threshold value; the average harvesting time is set as the average harvesting time when the harvesting area for planting the same plant in the same latitude area exceeds a set second area threshold.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, different time nodes are set, on one hand, corresponding users can be reminded to perform corresponding operations on a certain node, an existing agricultural information service platform basically reminds or introduces according to 24 solar terms, but in reality, certain errors exist between each node and the solar terms, and the time of actually needed operations and the solar terms are possibly delayed or advanced.
Therefore, the determination of the time node provided in this embodiment is different from the conventional manner, and is performed completely according to the actual situation, and the determination of the time node is implemented based on the beidou satellite positioning system.
In another embodiment, the Beidou satellite positioning system comprises:
the positioning module is used for positioning the national agricultural industry area;
the regional division module is used for dividing regions of national agricultural industry regions according to different longitudes and latitudes, and the same regions are divided, so that the climatic environments are the same and the types of plants or cultures are the same;
The block dividing module is used for dividing blocks of different kinds of plants in the same area, and the kinds of the plants in different areas are different;
the block area determining module is used for obtaining the area of each block through the positioning module, summarizing the areas of the blocks of the same plant in the same area and obtaining the planting areas of different plants in the same area.
The working principle of the technical scheme is as follows: the scheme that this embodiment adopted is that big dipper satellite positioning system includes: the positioning module is used for positioning the national agricultural industry area; the regional division module is used for dividing regions of national agricultural industry regions according to different longitudes and latitudes, and the same regions are divided, so that the climatic environments are the same and the types of plants or cultures are the same; the block dividing module is used for dividing blocks of different kinds of plants in the same area, and the kinds of the plants in different areas are different; the block area determining module is used for obtaining the area of each block through the positioning module, summarizing the areas of the blocks of the same plant in the same area and obtaining the planting areas of different plants in the same area.
The beneficial effects of the technical scheme are as follows: the proposal provided by the embodiment can not only obtain the position information but also obtain the areas of different planting areas through the Beidou satellite positioning system, collect and summarize the range of the planting areas or the cultivation areas, and provide a data basis for the subsequent planning of the cultivation areas or the planting areas.
In another embodiment, the Beidou satellite positioning system comprises: the positioning model is used for obtaining a position structure model of the agricultural industry area through the Beidou satellite positioning system;
the positioning model comprises:
the correcting unit is used for correcting the positioning information of the Beidou satellite positioning system to obtain corrected position information;
an area construction unit for determining the area of the plant or farm by using an area construction model based on the corrected position information;
the area correction unit is used for verifying and correcting the area of the area through the sensor, feeding back the corrected value to the area construction model and correcting the area of the area;
and an area center point unit for determining the center point of the area and setting the determined center point as position information.
The working principle of the technical scheme is as follows: the scheme that this embodiment adopted is that big dipper satellite positioning system includes: the positioning model is used for obtaining a position structure model of the agricultural industry area through the Beidou satellite positioning system; the positioning model comprises: the correcting unit is used for correcting the positioning information of the Beidou satellite positioning system to obtain corrected position information; an area construction unit for determining the area of the plant or farm by using an area construction model based on the corrected position information; the area correction unit is used for verifying and correcting the area of the area through the sensor, feeding back the corrected value to the area construction model and correcting the area of the area; and an area center point unit for determining the center point of the area and setting the determined center point as position information.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the area is positioned and determined, the area is verified and corrected, the verification part can detect and verify by manual or sensor mode, and the accuracy of area division or acquisition is improved. In addition, the central point of the area is set as the position information, so that the meaning of combining the Beidou satellite positioning system with the agricultural information can be reflected, the planting area or the cultivation area cannot be a point, and the position information is reflected through the central point of the area more reasonably.
In another embodiment, referring to fig. 3, the beidou satellite positioning system further includes:
the positioning precision optimizing module is used for carrying out positioning calculation by adopting an optimized least square method, so that the positioning precision is improved; the optimized least square method adds a weight coefficient to estimate the solution of the unknown quantity according to the existing observed value until the positioning error is lower than a given threshold value;
the positioning accuracy optimization module comprises:
the data setting unit is used for setting initial values and threshold values of the positioning position and the receiver clock error;
the weight value setting unit is used for adding weight values to pseudo-range observation values proposed after receiving a plurality of satellite signals;
The pseudo-range positioning equation construction unit is used for constructing a pseudo-range positioning equation and carrying out linear processing on the pseudo-range positioning equation to obtain a linear equation;
the pseudo-range deviation value calculation unit is used for calculating satellite pseudo-range deviation values through a weighted least square method;
the judging unit is used for judging whether the pseudo-range deviation value is smaller than a threshold value, and if so, acquiring a pseudo-range observation value with high reliability; if the pseudo-range deviation value is larger than the threshold value, solving the linear equation again until the pseudo-range deviation value is smaller than the threshold value.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the Beidou satellite positioning system further comprises:
the positioning precision optimizing module is used for carrying out positioning calculation by adopting an optimized least square method, so that the positioning precision is improved; the optimized least square method adds a weight coefficient to estimate the solution of the unknown quantity according to the existing observed value until the positioning error is lower than a given threshold value;
the positioning accuracy optimization module comprises:
the data setting unit is used for setting initial values and threshold values of the positioning position and the receiver clock error;
the weight value setting unit is used for adding weight values to pseudo-range observation values proposed after receiving a plurality of satellite signals;
The pseudo-range positioning equation construction unit is used for constructing a pseudo-range positioning equation and carrying out linear processing on the pseudo-range positioning equation to obtain a linear equation;
the linear equation is a linear matrix equation, and the formula of the linear matrix mode is as follows:
Wδf＝WH·Δx
wherein W represents a weight matrix, H represents a coefficient matrix, which may be an m×4 coefficient matrix, δf represents a pseudo-range residual, i.e. a deviation between an estimated value and an observed value of the pseudo-range, and Δx represents a state residual, i.e. a difference between a real position and an initialized acquired position.
The solution is as follows:
Δx＝(H T W T WH) -1 H T W T Wδf
wherein H is T Representing the transposed matrix, W, of matrix H T Representing the transposed matrix of matrix W, (H) T W T WH) -1 Representation matrix H T W T An inverse of WH.
The pseudo-range deviation value calculation unit is used for calculating satellite pseudo-range deviation values through a weighted least square method;
the judging unit is used for judging whether the pseudo-range deviation value is smaller than a threshold value, and if so, acquiring a pseudo-range observation value with high reliability; if the pseudo-range deviation value is larger than the threshold value, solving the linear equation again until the pseudo-range deviation value is smaller than the threshold value.
It should be noted that, main error sources affecting the positioning accuracy of pseudo range in the beidou satellite navigation system can be classified into 3 types: errors caused by ground equipment, errors caused by Beidou navigation satellites and related errors caused by signals in a space transmission process. The errors can also be classified into systematic errors and random errors according to the nature of the errors. Systematic errors include mainly satellite orbit errors, satellite clock errors, receiver clock errors, errors in atmospheric refraction (mainly including ionospheric delays and tropospheric delays), etc. The random error mainly comprises errors caused by multipath effects of signals, observed noise errors and the like. Because of the randomness of these errors, it is generally difficult to build a corresponding model for correction.
When pseudo-range positioning is utilized, pseudo-range observables need to be extracted, and noise in the pseudo-range observables cannot be completely eliminated. Therefore, when the receiver receives signals of more than 4 satellites, a plurality of pseudo-range observation values are extracted, and the reliability of each pseudo-range observation value is different because noise contained in each pseudo-range measurement value is different due to the randomness of noise. Some pseudorange observations contain little noise and are highly reliable. Some pseudorange observations contain large noise and are less reliable.
Therefore, the present embodiment determines a highly reliable pseudo-range sensing value by adding the pseudo-range observation value to the weight value.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the pseudo-range observed values with low reliability are used as much as possible, the weight is added to the pseudo-range observed values, and the least square method is improved and optimized.
In another embodiment, the weight value setting unit includes:
a pseudo-range deviation value subunit, configured to set pseudo-range deviation values of a plurality of satellites, where the pseudo-range deviation values are differences between the pseudo-range values before correction and the pseudo-range values after correction;
an array forming subunit, configured to set the number m of satellites, and form an array formed by m elements according to the sequence from small to large of all the pseudo-range offset values;
A new array forming subunit, configured to determine intermediate elements for the array, and subtract each element in the array from the intermediate elements to obtain a new array with m new elements;
and the weight value construction subunit is used for constructing the weight value of each satellite based on the new array so as to correct the pseudo-range related errors of different satellites at the same moment, which are not completely corrected by the mathematical model.
The working principle of the technical scheme is as follows: the solution adopted in this embodiment is that the weight value setting unit includes:
a pseudo-range deviation value subunit, configured to set pseudo-range deviation values of a plurality of satellites, where the pseudo-range deviation values are differences between the pseudo-range values before correction and the pseudo-range values after correction;
an array forming subunit, configured to set the number m of satellites, and form an array formed by m elements according to the sequence from small to large of all the pseudo-range offset values;
the formula of the array is as follows:
Δρ＝[Δρ 1 Δρ 2 Δρ 3 …Δρ m ]
where Δρ represents an array and m represents the number of satellites.
A new array forming subunit, configured to determine intermediate elements for the array, and subtract each element in the array from the intermediate elements to obtain a new array with m new elements;
the formula for the new array is as follows:
γ＝[γ 1 γ 2 γ 3 …γ m ]
γ i ＝Δρ i -Δρ mid
wherein, gamma represents a new array, m represents the number of satellites, and gamma i Represents the ith element, Δρ, in the new array γ i Represents the ith element in the array Δρ, Δρ mid Representing the intermediate elements in the array Δρ.
And the weight value construction subunit is used for constructing the weight value of each satellite based on the new array so as to correct the pseudo-range related errors of different satellites at the same moment, which are not completely corrected by the mathematical model.
The formula of the weight matrix is as follows:
wherein W represents a weight matrix, gamma 1 Representing the first element in array gamma, gamma 2 Representing the second element in array gamma, gamma m Representing the mth element in array gamma.
The beneficial effects of the technical scheme are as follows: by adopting the scheme provided by the embodiment, the error problem of the pseudo-range observation value is weighted, the pseudo-range measurement value of each satellite is given different weights, and the pseudo-range measurement value with larger weights plays a larger role in the process of solving the equation.
In another embodiment, the weight value setting unit includes: a fused pseudo-range determining subunit, configured to determine a fused pseudo-range, and cancel ionospheric delay;
the fused pseudo-range determination subunit includes:
the state model building unit is used for building a state model, and the state model is embodied by a state vector;
and a state equation determining unit that determines a state equation based on the kinematic model and the correlation of the system driving noise and the state, the state equation being as follows:
x t+1 ＝f(x t ，w t )
Wherein x is t Representing state vectors, w t Representing system drive noise;
and the fused pseudo-range calculation unit is used for calculating and obtaining the fused pseudo-range based on the double-frequency ionosphere pseudo-range calculation method.
The working principle of the technical scheme is as follows: the solution adopted in this embodiment is that the weight value setting unit includes: a fused pseudo-range determining subunit, configured to determine a fused pseudo-range, and cancel ionospheric delay;
the fused pseudo-range determination subunit includes:
the state model building unit is used for building a state model, and the state model is embodied by a state vector;
and a state equation determining unit that determines a state equation based on the kinematic model and the correlation of the system driving noise and the state, the state equation being as follows:
x t+1 ＝f(x t ，w t )
wherein x is t Representing state vectors, w t Representing system drive noise;
and the fused pseudo-range calculation unit is used for calculating and obtaining the fused pseudo-range based on the double-frequency ionosphere pseudo-range calculation method.
The atmosphere at a certain altitude contains many charged particles, and under the influence of these particles, the path and speed of satellite signal propagation change, so that pseudo-range observed errors easily occur in the positioning process, and the errors correspond to ionospheric delays. The existing scheme cannot eliminate propagation delay caused by an ionosphere, the ionosphere flicker can also cause the signal-to-noise ratio of satellite signals to be reduced under extreme conditions, so that the receiver is always in a tracking state, and the output data of the receiver has great uncertainty.
The beneficial effects of the technical scheme are as follows: the proposal provided by the embodiment uses dual-band fusion to locate that more observation values can be obtained so as to build a model to offset delay caused by an ionosphere, thereby improving the positioning precision; the resolution of the integer ambiguity can also be expedited.
In another embodiment, the data processing system obtains the change rule features of all positions by obtaining the position information and the region division information of the current plant and the farm of the Beidou satellite positioning system and the position information and the region division information of the historical plant and the farm, and learning based on the deep neural learning network, wherein the change rule features comprise: the change rule features of the species of the plants and the change rule features of the planting areas of the plants; and obtaining predicted plant yield based on the change rule, the position information and the regional division information of the current plant and the farm.
The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the data processing system obtains the change rule characteristics of all positions by obtaining the position information and the area division information of the current plant and the farm of the Beidou satellite positioning system and the position information and the area division information of the historical plant and the farm, and learning the data processing system based on a deep neural learning network, wherein the change rule characteristics comprise: the change rule features of the species of the plants and the change rule features of the planting areas of the plants; and obtaining predicted plant yield based on the change rule, the position information and the regional division information of the current plant and the farm.
The beneficial effects of the technical scheme are as follows: the scheme provided by the embodiment predicts the yield of the plant according to the historical big data technology, the change rule features are learned through the historical big data, and the scheme for predicting according to the change rule features is based on the historical data, so that the prediction accuracy is higher.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. Agricultural information service platform based on big dipper satellite positioning, its characterized in that includes: the system comprises a Beidou satellite positioning system, an information acquisition system, a data processing system, a prediction system, an agricultural planning system and an information display system;
the Beidou satellite positioning system positions and determines the position information and the area division information of the seed plants and the farms; the information acquisition system acquires climate and soil information of different areas, the data processing system acquires position information and area division information and climate and soil information of different areas, and performs data processing on the acquired information to acquire plant yield and culture yield of different areas nationwide in real time; the prediction system predicts the prices of the seed plants and the farms based on the seed plant yield and the farms yield to obtain a predicted price; the agricultural planning system performs planting and breeding planning on the seed plants and the farms in the future based on the seed plant yield and the farms yield, and the information display system displays the estimated price and the planting and breeding planning.
2. The agricultural information service platform based on Beidou satellite positioning according to claim 1, wherein the regional division information comprises: species of plants and planting areas corresponding to different species of plants; or the type of the culture and the corresponding culture areas of different types of farms;
the planting and breeding plan comprises: planning a planted area, planning a planted type and planning a corresponding relation between the planted area and the type; planning a region of the culture, planning a variety of the culture, planning the number of the culture and planning the corresponding relation between the culture region and the variety; alternatively, the planning is performed on the seed plants and the plant-growing areas of different areas.
3. The Beidou satellite positioning based agricultural information service platform of claim 1, wherein the agricultural planning system further comprises:
the planning prediction module is used for taking a planting and breeding plan as input of a learning model, and learning the strategy prediction price and the strategy prediction yield of the planting plants and the cultivars based on the planting and breeding plan through the learning model;
the planning adjustment module is used for obtaining a difference value through the comparison calculation of the strategy predicted price and the estimated price and the comparison calculation of the estimated yield and the strategy predicted yield, and adjusting the planting and breeding plan according to the difference value.
4. The Beidou satellite positioning-based agricultural information service platform of claim 1, further comprising a time node monitoring system for monitoring different time nodes; the time node monitoring system comprises:
the planting node monitoring module is used for obtaining actual planting time of different plants in different areas of the country through the Beidou satellite positioning system, wherein the actual planting time is obtained by obtaining germination time of the plants through the Beidou satellite positioning system, obtaining time required from sowing to germination of the corresponding plants, and determining the actual planting time based on the germination time and the required time;
the harvesting node monitoring module is used for obtaining actual harvesting time of different plants in different areas of the country through the bucket satellite positioning system, wherein the actual harvesting time is obtained by harvesting the plants through the Beidou satellite positioning system;
the reminding unit is used for determining the average planting time and the average harvesting time of the same type of plants in different areas of the country based on the actual planting time or the actual harvesting time, and forming planting or harvesting reminding information when the average planting time and the average harvesting time are reached, so as to remind farmers of timely planting or harvesting; the reminding information is displayed through an information display system;
The average planting time is set as the average planting time when the coverage area for planting the same plant in the same latitude area exceeds a set first area threshold value; the average harvesting time is set as the average harvesting time when the harvesting area for planting the same plant in the same latitude area exceeds a set second area threshold.
5. The Beidou satellite positioning-based agricultural information service platform of claim 1, wherein the Beidou satellite positioning system comprises:
the positioning module is used for positioning the national agricultural industry area;
the regional division module is used for dividing regions of national agricultural industry regions according to different longitudes and latitudes, and the same regions are divided, so that the climatic environments are the same and the types of plants or cultures are the same;
the block dividing module is used for dividing blocks of different kinds of plants in the same area, and the kinds of the plants in different areas are different;
the block area determining module is used for obtaining the area of each block through the positioning module, summarizing the areas of the blocks of the same plant in the same area and obtaining the planting areas of different plants in the same area.
6. The Beidou satellite positioning-based agricultural information service platform of claim 1, wherein the Beidou satellite positioning system comprises: the positioning model is used for obtaining a position structure model of the agricultural industry area through the Beidou satellite positioning system;
the positioning model comprises:
the correcting unit is used for correcting the positioning information of the Beidou satellite positioning system to obtain corrected position information;
an area construction unit for determining the area of the plant or farm by using an area construction model based on the corrected position information;
the area correction unit is used for verifying and correcting the area of the area through the sensor, feeding back the corrected value to the area construction model and correcting the area of the area;
and an area center point unit for determining the center point of the area and setting the determined center point as position information.
7. The Beidou satellite positioning-based agricultural information service platform of claim 1, wherein the Beidou satellite positioning system further comprises:
the positioning precision optimizing module is used for carrying out positioning calculation by adopting an optimized least square method, so that the positioning precision is improved; the optimized least square method adds a weight coefficient to estimate the solution of the unknown quantity according to the existing observed value until the positioning error is lower than a given threshold value;
The positioning accuracy optimization module comprises:
the data setting unit is used for setting initial values and threshold values of the positioning position and the receiver clock error;
the weight value setting unit is used for adding weight values to pseudo-range observation values proposed after receiving a plurality of satellite signals;
the pseudo-range positioning equation construction unit is used for constructing a pseudo-range positioning equation and carrying out linear processing on the pseudo-range positioning equation to obtain a linear equation;
the pseudo-range deviation value calculation unit is used for calculating satellite pseudo-range deviation values through a weighted least square method;
the judging unit is used for judging whether the pseudo-range deviation value is smaller than a threshold value, and if so, acquiring a pseudo-range observation value with high reliability; if the pseudo-range deviation value is larger than the threshold value, solving the linear equation again until the pseudo-range deviation value is smaller than the threshold value.
8. The agricultural information service platform based on Beidou satellite positioning according to claim 7, wherein the weight value setting unit comprises:
a pseudo-range deviation value subunit, configured to set pseudo-range deviation values of a plurality of satellites, where the pseudo-range deviation values are differences between the pseudo-range values before correction and the pseudo-range values after correction;
an array forming subunit, configured to set the number m of satellites, and form an array formed by m elements according to the sequence from small to large of all the pseudo-range offset values;
A new array forming subunit, configured to determine intermediate elements for the array, and subtract each element in the array from the intermediate elements to obtain a new array with m new elements;
and the weight value construction subunit is used for constructing the weight value of each satellite based on the new array so as to correct the pseudo-range related errors of different satellites at the same moment, which are not completely corrected by the mathematical model.
9. The agricultural information service platform based on Beidou satellite positioning according to claim 7, wherein the weight value setting unit comprises: a fused pseudo-range determining subunit, configured to determine a fused pseudo-range, and cancel ionospheric delay;
the fused pseudo-range determination subunit includes:
the state model building unit is used for building a state model, and the state model is embodied by a state vector;
and a state equation determining unit that determines a state equation based on the kinematic model and the correlation of the system driving noise and the state, the state equation being as follows:
x t+1 ＝f(x t ，w t )
wherein x is t Representing state vectors, w t Representing system drive noise;
and the fused pseudo-range calculation unit is used for calculating and obtaining the fused pseudo-range based on the double-frequency ionosphere pseudo-range calculation method.
10. The agricultural information service platform based on Beidou satellite positioning according to claim 1, wherein the data processing system obtains change rule features of all positions by obtaining position information and region division information of current plants and farms, and position information and region division information of historical plants and farms of the Beidou satellite positioning system, learning is performed based on a deep neural learning network, and the change rule features comprise: the change rule features of the species of the plants and the change rule features of the planting areas of the plants; and obtaining predicted plant yield based on the change rule, the position information and the regional division information of the current plant and the farm.
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