CN101769862A - Distribution type atmospheric polarization mode detecting system and system control method - Google Patents
Distribution type atmospheric polarization mode detecting system and system control method Download PDFInfo
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Abstract
The invention discloses a distribution type atmospheric polarization mode detecting system. The system is characterized in that atmospheric polarization mode multi-dimensional detecting devices are distributed in the geologic positions of different geologic environments; an atmospheric polarization mode detecting system control center is used for controlling the atmospheric polarization mode multi-dimensional detecting devices to automatically collect the atmospheric polarization mode information data in the geologic positions, and receive the original atmospheric polarization information data collected by the atmospheric polarization mode multi-dimensional detecting devices, and the atmospheric polarization information data of multiple geologic environments are obtained by the atmospheric polarization mode detecting system control center through data processing; each trunk device is used for storing the communication address of each atmosphere atmospheric polarization mode multi-dimensional detecting device in the trunk area as the path information, and carries out signal trunk transfer between each atmospheric polarization mode multi-dimensional detecting device in the trunk area and the atmospheric polarization mode detecting system control center. The invention can obtain the atmospheric polarization mode information under various geologic environments without watching.
Description
Technical field
The invention belongs to intelligent information and obtain and the bio-robot field of navigation technology, distribution type atmospheric polarization mode detecting system and system control method in particularly a kind of bionical polarized light independent navigation.
Background technology
Sunshine is a kind of natural light, enters in the communication process of earth atmosphere at it, because the scattering and the reflection of particle in the atmosphere produces polarized light.Simultaneously, the reflection of ground materials also can change the polarization characteristic of sunshine.Have the different polarization direction, the sunshine of different polarization intensity has just formed specific atmospheric polarization type.The atmospheric polarization type information spinner will comprise parameter informations such as atmospheric polarization degree, polarization direction.Atmospheric polarization type and geographic position, position of sun, atmospheric environment, weather condition, and close getting in touch arranged with landform and ground environment, its rule is very complicated.Occurring in nature, husky ant (Cataglyphis) relies on the polarized light that Polarization-Sensitive structure special in its compound eye is experienced occurring in nature, thereby compass heading accurately is provided, can gets at and at a distance seek food on a large scale and along the nest that almost returns them near the route of straight line.This special air navigation aid, navigation has far-reaching directive significance to the research bio-robot, has crucial application prospect.Realize utilizing atmospheric polarization type to finish the independent navigation task, at first must set up the realistic model of atmospheric polarization type, and atmospheric polarization type and geographic position, position of sun, atmospheric environment, weather condition, and close getting in touch arranged with landform and ground environment, so the foundation of atmospheric polarization type realistic model needs effectively to obtain a large amount of atmospheric polarization type information fast, thereby the foundation of quick effective detection of atmospheric polarization type information and atmospheric polarization type is crucial.
The application number that the applicant submitted on September 23rd, 2009 is: 2009101450480, name is called in the application for a patent for invention of " atmospheric polarization type multidimensional detection device and detection method ", proposed that a kind of structural principle is simple, detection efficiency is high, real-time, one dimension rotation mode and adopt the atmospheric polarization type multidimensional detection device and the detection method of radio communication, to satisfy the requirement that detects for atmospheric polarization type.
Atmospheric polarization type and geographic position, position of sun, atmospheric environment, weather condition, and close getting in touch arranged with landform and ground environment, its rule is very complicated.The system at the atmospheric polarization type information acquisition that comprises said apparatus at present all is that gather in single place, its gatherer process needs on duty, difficulty is finished long-time section collection, is difficult to follow the tracks of owing to position of sun, atmospheric environment, the long-time section of weather condition change the atmospheric polarization type that causes and change; And need the long period to shift after collection is finished, can not obtain the atmosphere polarization information under multiple landform and the ground environment simultaneously, so can't satisfy the actual requirement that in the atmospheric polarization type modeling atmospheric polarization type information is detected.
Summary of the invention
The present invention is for avoiding above-mentioned existing in prior technology weak point, a kind of distribution type atmospheric polarization mode detecting system that can obtain atmosphere polarization information under the multiple geographical environment simultaneously is provided, and this system need not on duty, be easy to finish long-time section collection, can follow the tracks of owing to position of sun, atmospheric environment, the long-time section of weather condition change the atmospheric polarization type that causes and change, can satisfy the requirement of atmospheric polarization type detection and modeling.
Technical solution problem of the present invention adopts following technical scheme:
The design feature of distribution type atmospheric polarization mode detecting system of the present invention is that system forms each atmospheric polarization type multidimensional detection device that comprises type atmospheric polarization mode detecting system control center, each relay and be distributed in the geographical location of variant geographical environment;
Control each atmospheric polarization type multidimensional detection device with described type atmospheric polarization mode detecting system control center and finish collection automatically for the atmosphere polarization information data of geographic location, receive the protoatmosphere polarization information data that described atmospheric polarization type multidimensional detection device is gathered, obtain the atmosphere polarization information data of many geographical environments by data processing and preserve and manage with database in described type atmospheric polarization mode detecting system control center;
Described each relay is preserved the mailing address of each atmospheric polarization type multidimensional detection device in its relaying zone as routing information, each relay carries out the relaying of signal between each atmospheric polarization type multidimensional detection device and type atmospheric polarization mode detecting system control center in the zone of wherein continuing transmits, and the routing information of self being preserved with the relay modification carries out routing and for dynamically being adjusted by the network structure of relay division.
The characteristics of distribution type atmospheric polarization mode detecting system of the present invention also are:
In described type atmospheric polarization mode detecting system control center PC is set, described PC comprises main control module, communication management module, data processing module, database module and the graphical display module with human-computer interaction interface; Be connected with the wireless communication module of type atmospheric polarization mode detecting system control center with communication management module in the described PC; Data processing module obtains the atmosphere polarization information data of many geographical environments in the described PC through data processing after receiving the protoatmosphere polarization information data of being gathered by described each atmospheric polarization type multidimensional detection device; Described type atmospheric polarization mode detecting system control center carries out radio communication with its wireless communication module and each relay and each atmospheric polarization type multidimensional detection device.
Described relay has the data memory module C of MCU single-chip microcomputer C, the wireless communication module C as relay control center, the real-time clock C that system time is provided, store path information and relay service data, human-computer interaction module C, power module C and the USB interface C that supplies user input commands and carry out the system state liquid crystal display; To carry out radio communication between each atmospheric polarization type multidimensional detection device in type atmospheric polarization mode detecting system control center and this relaying zone of wireless communication module C in the described relay; Carry out wired connection with USB interface C in the described relay and type atmospheric polarization mode detecting system control center;
Described relay is preserved the mailing address of each atmospheric polarization type multidimensional detection device in its relaying zone as routing information, the signal relay forward-path of atmospheric polarization type multidimensional detection device and type atmospheric polarization mode detecting system control center in its relaying zone is provided, each frame data that described relay inspection is received, if the Frame destination address is in this relay relaying zone or be broadcast address, source address is type atmospheric polarization mode detecting system control center address, then transmits this Frame; If the Frame destination address is type atmospheric polarization mode detecting system control center address, source address is address in this relay relaying zone, then transmits this Frame; If the Frame destination address is a local address, then this Frame is a control frame, carries out the control command in this Frame; If be other situation, then ignore this Frame.
The structure setting of described atmospheric polarization type multidimensional detection device comprises:
One group of atmosphere polarization information detection sensor (401) is used for atmosphere polarization information and detects;
One light intensity test module (402) has light intensity test device, is used for the light intensity signal detection;
One multi-dimensions test platform (403), has fan-shaped sensor mount (501), cylindricality connecting rod (502), base (503) and data acquisition module erecting bed (504), described fan-shaped sensor mount (501) is set to cantilever design, one end of cantilever is horizontally fixed on the top of cylindricality connecting rod (502), cantilever stretches in the horizontal direction, the cantilever that stretches is the identical central angle Φ bending in fan-shaped every interval by integral body and is each folding face, is fixedly installed on each sensor on the fan-shaped sensor mount and comprises being in the locational central sensor of cylindricality connecting rod top center and being in fan-shaped sensor mount and respectively roll over each side sensor that the same axis in face upper edge is arranged;
One data acquisition module (406), be used to receive the synchronizing information and the control command of user's control module (405), realize the collection and the transmission of atmosphere polarization information, described data acquisition module includes MCU Chip Microcomputer A, data sampling module, data memory module A, digital compass, real-time clock A, wireless communication module A, USB interface A and power module A; With the control center of described MCU Chip Microcomputer A as data acquisition module (406); Described data sampling module is used for simulating signal is carried out digital sample; Described digital compass is used to provide the initial azimuth of multi-dimensions test platform (403); Provide system time with described real-time clock A; Described wireless communication module A be used for keeping and user's control module (405) and and type atmospheric polarization mode detecting system control center between radio communication; Carry out wired connection with described USB interface A and type atmospheric polarization mode detecting system control center; Described power module A is made up of the power circuit that supplies power with double circuit, and is used to provide the power management and the distribution of data acquisition module (406);
One user's control module (405), controlling level universal stage (404) drives horizontally rotating of multi-dimensions test platform (403); Control described data acquisition module (406) and realize the digital sample and the processing of atmosphere polarization information detection sensor (401), gather intensity signal simultaneously by light intensity test module (402) record; The monitoring of control user input and the liquid crystal display of system state, and with the data transmission of described type atmospheric polarization mode detecting system control center, include MCU single-chip microcomputer B, stepper motor driver, wireless communication module B, human-computer interaction module B and power module B; With the control center of described MCU single-chip microcomputer B as user's control module (405); Described stepper motor driver is used for the rotation that drive stepping motor drives horizontal rotating table (404); Described wireless communication module B be used for keeping and data acquisition module (406) and and type atmospheric polarization mode detecting system control center between radio communication; Described human-computer interaction module B is used for the liquid crystal display of user input commands and system state; Described power module B provides the power management and the distribution of user's control module (405).
The characteristics of the system control method of distribution type atmospheric polarization mode detecting system of the present invention are to carry out according to the following procedure:
A, user start described type atmospheric polarization mode detecting system control center, send wake command and wake relay and atmospheric polarization type multidimensional detection device up, and check with each relay and atmospheric polarization type multidimensional detection device between communicate by letter whether normal, and calculating communication delay;
B, user control type atmospheric polarization mode detecting system control center and select atmospheric polarization type multidimensional detection device, and acquisition mode and relative set information are set, and send the beginning acquisition; Relay according to the routing information of its storage automatic decision whether transmit the Frame that it is received;
C, receive acquisition mode and relative set information that the atmospheric polarization type multidimensional detection device storage atmosphere polarization mode detection system control center of beginning acquisition sends, return confirmation, begin to gather atmospheric polarization type information then;
D, atmospheric polarization type multidimensional detection device collection finish, and send to gather ending message to type atmospheric polarization mode detecting system control center;
After e, all atmospheric polarization type multidimensional detection devices were all gathered end, the user controlled the image data that the transmitting and receiving data order of type atmospheric polarization mode detecting system control center receives each atmospheric polarization type multidimensional detection device one by one;
F, type atmospheric polarization mode detecting system control center control data processing module are handled the image data that receives automatically;
Whether g, user can select the data of this collection are kept in the database, also can start graphical display module, check the data that are kept in the database with patterned way, the data that are kept in the database are checked and managed to all right log-on data library module;
H, type atmospheric polarization mode detecting system control center send sleep command, and all relays and atmospheric polarization type multidimensional detection device enter the dormancy electricity-saving state, and last type atmospheric polarization mode detecting system control center closes.
The present invention forms complete distribution type atmospheric polarization mode detecting system with type atmospheric polarization mode detecting system control center, relay and atmospheric polarization type multidimensional detection device.With the control system operation of type atmospheric polarization mode detecting system control center, and handle and preserve the atmosphere polarization information data of gathering; Relay provides the forward-path of wireless signal, be used to make this distribution type atmospheric polarization mode detecting system can cover in a big way region, carrying out system network architecture divides and routing, and carry out the control command of type atmospheric polarization mode detecting system control center at relay, network structure is dynamically adjusted; Atmospheric polarization type multidimensional detection device is accepted the control of type atmospheric polarization mode detecting system control center, gathers the atmosphere polarization information of its site, and the data of gathering are returned to type atmospheric polarization mode detecting system control center.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention has realized simultaneously the detection of the atmospheric polarization type information under the multiple geographical environment, has improved the comparability and the validity that detect data
The present invention places atmospheric polarization type multidimensional detection device in a plurality of places, detect the control atmosphere polarization information atmospheric polarization type multidimensional detection device group's of type atmospheric polarization mode detecting system control center work with an atmospheric polarization type, atmospheric polarization type detects type atmospheric polarization mode detecting system control center can make a plurality of atmospheric polarization type multidimensional detection devices work simultaneously by the control mode of communication network broadcasting, thereby can obtain the atmosphere polarization information of different location synchronization, and then obtain the atmospheric polarization type information under the multiple geographical environment.And existing checkout equipment is to adopt time-sharing detecting method, and owing to atmospheric polarization type changes in time, therefore of the present invention the detection simultaneously improved comparability and the validity that detects data, and testing result is more true and reliable.
2, the many geographic position of distribution type atmospheric polarization mode detecting system of the present invention are gathered and be need not staff on duty, are easy to finish long-time section collection, can follow the tracks of owing to position of sun, atmospheric environment, the long-time section of weather condition change the atmospheric polarization type that causes and change
When gather in the geographic position, many places, only need to place atmospheric polarization type multidimensional detection device at collecting location, the user operates type atmospheric polarization mode detecting system control center and controls all relays and atmospheric polarization type multidimensional detection device by cordless communication network, can realize collection and processing to the atmosphere polarization information in a plurality of places, so the geographic position need not staff on duty everywhere, be easy to finish long-time section collection, can follow the tracks of owing to position of sun, atmospheric environment, the long-time section of weather condition change the atmospheric polarization type that causes and change.
3, the present invention covers territory and the control of realization flexible net significantly by relay
The forward-path of wireless signal is provided by relay, be used to make this type atmospheric polarization mode detecting system can cover in a big way region based on wireless network, carrying out subnet divides and routing, realize the flexible net controlling mechanism, and carry out the control command of type atmospheric polarization mode detecting system control center at the modification routing information of relay, network structure is dynamically adjusted.
4, the present invention can realize the detection of the atmospheric polarization type information in part and whole day territory by atmospheric polarization type multidimensional detection device
The present invention has multichannel to become one to set the atmosphere polarization information detection sensor of placing at interval in vertical direction, every road detecting sensor realizes that the atmospheric polarization type information of pairing part sky dummy section detects, and the rotation of multi-dimensions test platform has realized that 0 spends the detection of atmosphere polarization information in the whole day territory at the effective visual angle in the 60 degree scopes.
5, communication network of the present invention can adopt communication, reduces system cost, strengthens availability
The present invention adopts the radio communication network side formula, has avoided laying the problem of communication line, has strengthened the dirigibility and the ease for use of system, and has reduced the fault that causes owing to communication line.
Description of drawings
Fig. 1 is a distribution type atmospheric polarization mode detecting system structured flowchart of the present invention;
Fig. 2 is type atmospheric polarization mode detecting system of the present invention control center composition frame chart;
Fig. 3 is a relay composition frame chart of the present invention;
Fig. 4 is an atmospheric polarization type multidimensional detection device synoptic diagram of the present invention;
Fig. 5 is a multi-dimensions test platform synoptic diagram of the present invention;
Fig. 6 is an atmospheric polarization type multidimensional detection device composition frame chart of the present invention;
Fig. 7 is user's control module composition frame chart of the present invention;
Fig. 8 is a data acquisition module composition frame chart of the present invention;
Fig. 9 is a distribution type atmospheric polarization mode detecting system control flow of the present invention;
Figure 10 is a relay control flow of the present invention;
Figure 11 is an atmosphere polarization information acquisition controlling flow process of the present invention;
Figure 12 is an atmosphere polarization information Data Transmission Controlling flow process of the present invention;
Below by embodiment, the invention will be further described in conjunction with the accompanying drawings.
Embodiment
Referring to Fig. 1, be the distribution type atmospheric polarization mode detecting system structured flowchart.Distribution type atmospheric polarization mode detecting system is formed and is comprised type atmospheric polarization mode detecting system control center, each relay and each atmospheric polarization type multidimensional detection device in the present embodiment, and each atmospheric polarization type multidimensional detection device is distributed in the geographical location of variant geographical environment.Realize control and data-transformation facility by radio communication between type atmospheric polarization mode detecting system control center, each relay and each atmospheric polarization type multidimensional detection device.
Control each atmospheric polarization type multidimensional detection device with type atmospheric polarization mode detecting system control center and finish collection automatically for the atmosphere polarization information data of geographic location, receive the protoatmosphere polarization information data that atmospheric polarization type multidimensional detection device is gathered, obtain the atmosphere polarization information data of many geographical environments by data processing and preserve and manage with database in type atmospheric polarization mode detecting system control center.
Each relay is preserved the mailing address of each atmospheric polarization type multidimensional detection device in its relaying zone as routing information, each relay carries out the relaying of signal between each atmospheric polarization type multidimensional detection device and type atmospheric polarization mode detecting system control center in the zone of wherein continuing transmits, and the routing information of self being preserved with the relay modification is realized its routing and for dynamically being adjusted by the network structure of relay division.
Referring to Fig. 2, be type atmospheric polarization mode detecting system control center composition frame chart.Type atmospheric polarization mode detecting system control center is provided with the PC that includes main control module, communication management module, data processing module, database module and graphical display module with human-computer interaction interface, is connected with the wireless communication module of type atmospheric polarization mode detecting system control center with communication management module in the described PC.The main control module has human-computer interaction interface, is provided with and controls whole type atmospheric polarization mode detecting system for the user; Communication management module control wireless communication module, the proper communication between assurance and each relay, each atmospheric polarization type multidimensional detection device; Data processing module obtains the atmosphere polarization information data of many geographical environments through data processing after receiving the protoatmosphere polarization information data of being gathered by each atmospheric polarization type multidimensional detection device; Database module preserve original data, protoatmosphere polarization information data are set and handle after data, provide human-computer interaction interface data to be managed and therefrom extract useful atmosphere polarization information; Graphical display module shows data in patterned mode, provide an impression intuitively to the user, helps the user to obtain atmospheric polarization type information; Type atmospheric polarization mode detecting system control center carries out radio communication with its wireless communication module and each relay with each atmospheric polarization type multidimensional detection device.
Database is based on SQL Server 2000, and its design is as follows:
The Information table:
| Details | Data flowing water numbering | Time on date | The network address | The place | The geographic position | Weather |
| Field name | ??sn | ??date_time | ??net_addr | ??place | ??geo_position | ??weather |
| Type | ??char | ??datetime | ??int | ??tinyint | ??char | ??tinyint |
| Length | ??24B | ??8B | ??4B | ??1B | ??12B | ??1B |
Continuous Information table:
| Details | Geography information | Horizontal step-length | Horizontal throw | Horizontal rotating speed | The motor sense of rotation | Initial direction |
| Field name | ??surface | ??step_length | ??total_step | ??speed | ??motor_direction | ??direction |
| Type | ??tinyint | ??tinyint | ??tinyint | ??tinyint | ??tinyint | ??char |
| Length | ??1B | ??1B | ??1B | ??1B | ??1B | ??8B |
Wherein sn is a primary key.Weather information comprises vast clear sky, cloud is arranged but sunny substantially, cloud has covered sky, cloud substantially and all covered sky, geography information comprises city, rural area, open country, waters, deposit database in behind the above information coding, the user can also self-defined easily corresponding information and coding.
The Data table:
| Details | The data record number, major key | Data flowing water numbering | Sensor number | Level step numbering | Environmental light intensity | Data A, No. 1 acquisition channel voltage | Data B, No. 2 acquisition channel voltages | Data C, polarization angle Pol Angel | Data D, degree of polarization Pol Degree |
| Field name | ??data_sn | ??sn | ??sensor_num | ??step_num | ??light | ??dataA | ??dataB | ??dataC | ??dataD |
| Type | ??cnar | ??char | ??tinyint | ??tinyint | ??float | ??float | ??float | ??float | ??float |
| Details | The data record number, major key | Data flowing water numbering | Sensor number | Level step numbering | Environmental light intensity | Data A, No. 1 acquisition channel voltage | Data B, No. 2 acquisition channel voltages | Data C, polarization angle Pol Angel | Data D, degree of polarization Pol Degree |
| Length | ??24B | ??24B | ??1B | ??1B | ??8B | ??8B | ??8B | ??8B | ??8B |
Wherein, data_sn is a primary key, and sn is outer sign indicating number.
Among the present invention, type atmospheric polarization mode detecting system control center, each relay and each atmospheric polarization type multidimensional detection device all have a unique address, are used to guarantee communication each other; Broadcast address is a particular address, and when sending broadcast data frame in type atmospheric polarization mode detecting system control center, destination address is a broadcast address, and all relays and atmospheric polarization type multidimensional detection device all need to handle this broadcast data frame.Communication data frame format between type atmospheric polarization mode detecting system control center, each relay and each atmospheric polarization type multidimensional detection device is as follows:
| Frame synchronization | Destination address | Source address | Frame type | Frame number | Frame length | Data | Verification |
Communications data frame between type atmospheric polarization mode detecting system control center, each relay and each atmospheric polarization type multidimensional detection device has following several:
(1) Start: type atmospheric polarization mode detecting system control center notice atmospheric polarization type multidimensional detection device begins to gather atmosphere polarization information.This frame format is:
| ??ox7E | ??DA | ??SA | ??0x00 | ?NUM | ??LEN | ??START | ??Init_Data | ??CRC32 |
Wherein, 0x7E is a frame synchronization, and DA is a destination address, and SA is a source address, 00 is frame type, and NUM is a frame number, and LEN is a frame length, CRC32 is the CRC32 check code, and START=0x01 is a command word, and Init_Data comprises information such as control, acquisition mode, weather, time on date.
(2) Ack: relay or atmospheric polarization type multidimensional detection device are replied.This frame format is:
| ??ox7E | ??DA | ??SA | ??0x00 | ??NUM | ??LEN | ??ACK | ?Information | ??CRC32 |
Wherein, ACK=0x08 is a command word, and Information is a reserved word.
(3) Done: atmospheric polarization type multidimensional detection device is finished the collection atmosphere polarization information.This frame format is:
| ??ox7E | ??DA | ??SA | ??0x00 | ??NUM | ??LEN | ??DONE | ?Information | ??CRC32 |
Wherein, DONE=0x09 is a command word, and Information is a reserved word.
(4) Resend: type atmospheric polarization mode detecting system control center, relay or atmospheric polarization type multidimensional detection device require communication counterpart to retransmit.This frame format is:
| ??ox7E | ??DA | ??SA | ??0x00 | ?NUM | ??LEN | ??RESEND | ??Resend_NUM | ??CRC32 |
Wherein, RESEND=0x04 is a command word, and Resend_Num is the data frame number that requires the other side to retransmit.
(5) Receive: type atmospheric polarization mode detecting system control center requires to receive image data.This frame format is:
| ??ox7E | ??DA | ??SA | ??0x00 | ?NUM | ??LEN | ??RECEIVE | ??Start_Position | ??End_Position | ??CRC32 |
Wherein, RECEIVE=0x02 is a command word, and Start_Position is the start address that requires to receive image data, and End_Position is the end address that requires to receive image data.
(6) Error: relay or atmospheric polarization type multidimensional detection device operation make mistakes.This frame format is:
| ??ox7E | ??DA | ??SA | ??0x00 | ??NUM | ??LEN | ??ERROR | ??Error_Code | ??CRC32 |
Wherein, ERROR=0x05 is a command word, and Error_Code is an error code.
(7) Data: atmospheric polarization type multidimensional detection device sends image data.This frame format is:
| ??ox7E | ??DA | ??SA | ??0x00 | ?NUM | ??LEN | ??DATA | ??Data | ??CRC32 |
Wherein, DATA=0x06 is a command word, and Data represents image data.
(8) Wakeup: type atmospheric polarization mode detecting system control center wakes relay or atmospheric polarization type multidimensional detection device up.This frame format is:
| ??ox7E | ??DA | ??SA | ??0x00 | ?NUM | ??LEN | ??WAKEUP | ??Information | ??CRC32 |
Wherein, WAKEUP=0x10 is a command word, and Information is a reserved word.
(9) Sleep: type atmospheric polarization mode detecting system control center command auto repeat device or atmospheric polarization type multidimensional detection device enter the sleep electricity-saving state.This frame format is:
| ??ox7E | ??DA | ??SA | ??0x00 | ??NUM | ??LEN | ??SLEEP | ??Information | ??CRC32 |
Wherein, SLEEP=0x11 is a command word, and Information is a reserved word.
In addition, communications data frame can also expand at any time according to practical application, thereby satisfies the practical application needs.
Referring to Fig. 3, be the relay composition frame chart.Relay has the data memory module C of MCU single-chip microcomputer C, the wireless communication module C as relay control center, the real-time clock C that system time is provided, store path information and relay service data, human-computer interaction module C, power module C and the USB interface C that supplies user input commands and carry out the system state liquid crystal display; To carry out radio communication between wireless communication module C each atmospheric polarization type multidimensional detection device in type atmospheric polarization mode detecting system control center and this relaying zone; Carry out wired connection with USB interface C and type atmospheric polarization mode detecting system control center, realize data transmission and communication function.
The signal relay forward-path of atmospheric polarization type multidimensional detection device and type atmospheric polarization mode detecting system control center in its relaying zone is provided with relay, each frame data that the relay inspection is received, judge according to routing information whether this frame data source address is this relay address or the relaying regional extent that is subordinate to this relay, thereby judge whether to transmit its Frame of receiving or carry out corresponding instruction.
Referring to Fig. 4 and Fig. 6, be respectively atmospheric polarization type multidimensional detection device synoptic diagram and device composition frame chart.Atmospheric polarization type multidimensional detection device is used to gather the atmosphere polarization information of its site, comprises atmosphere polarization information detection sensor 401, light intensity test module 402, multi-dimensions test platform 403, horizontal rotating table 404, user's control module 405, data acquisition module 406.
Atmosphere polarization information detection sensor 401 has two groups of polarization information detecting units, the initial polarization direction of polaroid that is provided with in two groups of polarization information detecting units has fixed angle and differs from 60 °, and on the sensitive surface of sensor, UV interference filters is installed, only allow the ultraviolet band light in the atmospheric polarization optical information to enter the polarized light transmission channel, to strengthen the stability and the antijamming capability of sensor signal; The sensitization visual angle α of 401 pairs of skies of atmosphere polarization information detection sensor is set to 15 °, the atmosphere polarization information of the sky dummy section of corresponding 15 ° of awl scopes.
Light intensity test module 402 is ambient light intensity induction and records center, has light intensity test device, and real time record testing environment light intensity is used to detect the comparison and the analysis of data.
Figure 5 shows that multi-dimensions test platform 403, multi-dimensions test platform 403 is device main body supporting structures, has fan-shaped sensor mount 501, cylindricality connecting rod 502, base 503 and data acquisition module erecting bed 504, fan-shaped sensor mount 501 is set to cantilever design, one end of cantilever is horizontally fixed on the top of cylindricality connecting rod 502, cantilever stretches in the horizontal direction, the cantilever that stretches is the 15 ° of bendings in fan-shaped every interval by integral body, be fixedly installed on each sensor on the fan-shaped sensor mount and comprise being in the locational central sensor of cylindricality connecting rod top center and being in fan-shaped sensor mount and respectively roll over the four trackside portion sensors that the same axis in face upper edge distributes, in order to obtain the seamless collection of 60 ° of atmosphere polarization informations in the surveyed area.Fan-shaped sensor mount 501 adopts 5 millimeters quality steel plates in the multi-dimensions test platform 403, it is 5 centimetres steel pipe that cylindricality connecting rod 502 is selected diameter for use, base 503 is selected the cast iron of 10 cm thicks for use, in order to the firm own wt that reduces to greatest extent simultaneously stably of assurance device, improve the reliability of pick-up unit.
Horizontal rotating table 404 center, base 503 below from multi-dimensions test platform 403 embeds wherein, and is inner continuous by precision gear, comprises high precision stepper motor, gear drive whirligig; Described stepper motor closely is connected with the gear drive whirligig, and the rotation of stepper motor vertical direction is converted to the rotation of cylindricality connecting rod 502 horizontal directions, and then drives fan-shaped sensor mount 501 and horizontally rotate; Around the gear drive whirligig 0 ° to 360 ° accurate scale is set evenly, allows directly to read the actual angle that fan-shaped sensor mount 501 is turned over, in order to directly to compare with testing result.
Shown in Figure 7 is user's control module block diagram.User's control module 405 comprises MCU single-chip microcomputer B, stepper motor driver, wireless communication module B, human-computer interaction module B and power module B; Wherein, MCU single-chip microcomputer B is the control center of user's control module 405; Stepper motor driver is used for the rotation that drive stepping motor drives horizontal rotating table 404; Wireless communication module B has the characteristics of microminiature, low-power consumption, wireless receiving and dispatching one, be used to keep and data acquisition module 406 and computing machine between radio communication; Human-computer interaction module B is used for the liquid crystal display of user input commands and system state; Power module B provides the power management and the distribution of user's control module 405.
Figure 8 shows that the data acquisition module block diagram.Data acquisition module 406 comprises MCU Chip Microcomputer A, data sampling module, data memory module A, digital compass, real-time clock A, wireless communication module A, USB interface A and power module A; Wherein, the MCU Chip Microcomputer A is the control center of data acquisition module 406; Data sampling module is used for simulating signal is carried out digital sample; Data memory module A is used to store the detected state record and the atmosphere polarization information that obtains of sampling detects data; Digital compass is used to provide the initial azimuth of multi-dimensions test platform 403, makes multi-dimensions test platform 403 can begin test experience at an arbitrary position, has improved the dirigibility of detection system, has simplified trace routine, makes test experience convenient; Real-time clock A is used to provide system time; Wireless communication module A adopts and the same device of wireless communication module B, be used to keep and user's control module 405 and and computing machine between radio communication; USB interface A is used for carrying out wired connection with computing machine, realizes data transmission and communication function; Power module A is made up of the power circuit that supplies power with double circuit, and the two-way power supply backups each other, and under the one road unexpected power-down conditions, Single Chip Microcomputer (SCM) system starts backup battery at once therein, makes that detecting data does not lose.
Atmosphere polarization information detection sensor 401 is finished the detection and the conversion of space polarization information, gather and calculate by data acquisition module 406 according to the formula that a polarization information obtains data processing method, obtain the polarization information of respective regions, the formula that polarization information obtains data processing method is:
Wherein, φ is that polarization direction angle or solar azimuth, d are degree of polarization, P
1(φ) and P
2(φ) be the sampled data of two groups of polarization information detecting unit synchronization output signals in the atmosphere polarization information detection sensor 401,
With
By P
1(φ) and P
2(φ) utilize the S type function
Obtain after going logarithm to handle.
The detection method of atmospheric polarization type multidimensional detection device horizontally rotates with multi-dimensions test platform 403, gathers to horizontally rotate each the regional polarization information that obtains in the mode that scans in the process.
Referring to Fig. 9, be the distribution type atmospheric polarization mode detecting system control flow, as follows:
1, the user starts type atmospheric polarization mode detecting system control center, type atmospheric polarization mode detecting system control center sends the Wakeup Frame and wakes each relay and each atmospheric polarization type multidimensional detection device up, after relay and atmospheric polarization type multidimensional detection device receive the Wakeup Frame, send the Ack Frame, type atmospheric polarization mode detecting system control center is by the normal and calculating communication delay of whether communicating by letter of this process check and each relay and atmospheric polarization type multidimensional detection device, and shows corresponding information on the interface;
2, the user controls information such as the input control of type atmospheric polarization mode detecting system control center, acquisition mode, weather, time on date, and selection atmospheric polarization type multidimensional detection device, click then and send the acquisition node that key transmission Start Frame is selected to the user, the Start Frame comprises information such as control, acquisition mode, weather, time on date;
3, the atmospheric polarization type multidimensional detection device of receiving the Start Frame information such as control, acquisition mode, weather and time on date that send of storage atmosphere polarization mode detection system control center at first, send then the Ack Frame to type atmospheric polarization mode detecting system control center to show affirmation, being provided with of acquisition mode of then adopting type atmospheric polarization mode detecting system control center to send begins to gather atmosphere polarization information;
4, the atmospheric polarization type multidimensional detection device collection finishes, and sends the Done Frame to type atmospheric polarization mode detecting system control center;
5, after all atmospheric polarization type multidimensional detection devices are all gathered end, the user selects corresponding atmospheric polarization type multidimensional detection device one by one, click " reception image data " button, type atmospheric polarization mode detecting system control center sends the Receive Frame to this atmospheric polarization type multidimensional detection device and receives its image data, and atmospheric polarization type multidimensional detection device sends the image data of Data data frame transfer correspondence according to the control information of Receive Frame;
6, type atmospheric polarization mode detecting system control center control data processing module is handled the image data that receives automatically, comprise specifically whether the information that the comparison atmospheric polarization type multidimensional detection device sends meets the relevant configuration information that type atmospheric polarization mode detecting system control center sends, judge whether this image data is effective, use aforementioned polarization information to obtain the formula manipulation image data of data processing method, the data after combination configuration information data, acquired original data and the processing obtain the data of this collection;
7, the human-computer interaction interface that provides by type atmospheric polarization mode detecting system control center of the user data of managing this collection: the data of this collection are saved in the database by clicking " preservation data " button; After selecting a certain atmospheric polarization type multidimensional detection device, click the data that " demonstration curve map " button is checked this collection in the mode of graphical (curve map); Click " database " keyed access database, check historical data, analysis integrated information;
When 8, the user closes type atmospheric polarization mode detecting system control center, type atmospheric polarization mode detecting system control center at first sends the Sleep Frame to each relay and each atmospheric polarization type multidimensional detection device, after each relay and each atmospheric polarization type multidimensional detection device receive the Sleep Frame, send the Ack Frame, enter the dormancy electricity-saving state then, type atmospheric polarization mode detecting system control center receives whole Ack Frames or the overtime back of communicating by letter shows relevant information, and last type atmospheric polarization mode detecting system control center closes.
Referring to Figure 10, be the relay control flow.Relay starts to be monitored, if receive a correct Frame, then check the source address and the destination address of this Frame, if the Frame destination address is in this relay relaying zone or be broadcast address, source address is type atmospheric polarization mode detecting system control center address, then transmits this Frame; If the Frame destination address is type atmospheric polarization mode detecting system control center address, source address is address in this relay relaying zone, then transmits this Frame; If the Frame destination address is a local address, then this Frame is a control frame, carries out the control command in this Frame; If be other situation, then ignore this Frame.
Referring to Figure 11, be atmosphere polarization information acquisition controlling flow process.After initialization was finished, type atmospheric polarization mode detecting system control center at first sent the Start order, started monitor process then and began to monitor.If receive Resend Frame or listen timeout, then judge and whether retransmit number of times greater than setting value, be not more than setting value if retransmit number of times, then retransmit and monitor again, if retransmit number of times, then return error message greater than setting value; If receive the Error Frame, then return error message; If receive the Ack Frame, the expression atmospheric polarization type multidimensional detection device begins image data, and type atmospheric polarization mode detecting system control center continues to monitor, if receive the Done Frame, then returns success information, if overtime, then returns error message.
Referring to Figure 12, be atmosphere polarization information Data Transmission Controlling flow process.After initialization was finished, type atmospheric polarization mode detecting system control center at first sent the Receive order, started monitor process then and began to monitor.If receive Resend Frame or listen timeout, then judge and whether retransmit number of times greater than setting value, be not more than setting value if retransmit number of times, then retransmit and monitor again, if retransmit number of times, then return error message greater than setting value; If receive the Error Frame, then return error message; If receive the Data Frame, then preserve image data, and judge whether to receive, if receive then return success information, otherwise revise data counter, send the Receive order then and receive next Frame.
Obviously, those skilled in the art can carry out various changes and modification to distribution type atmospheric polarization mode detecting system of the present invention and system control method and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (5)
1. a distribution type atmospheric polarization mode detecting system is characterized in that system forms each atmospheric polarization type multidimensional detection device that comprises type atmospheric polarization mode detecting system control center, each relay and be distributed in the geographical location of variant geographical environment;
Control each atmospheric polarization type multidimensional detection device with described type atmospheric polarization mode detecting system control center and finish collection automatically for the atmosphere polarization information data of geographic location, receive the protoatmosphere polarization information data that described atmospheric polarization type multidimensional detection device is gathered, obtain the atmosphere polarization information data of many geographical environments by data processing and preserve and manage with database in described type atmospheric polarization mode detecting system control center;
Described each relay is preserved the mailing address of each atmospheric polarization type multidimensional detection device in its relaying zone as routing information, each relay carries out the relaying of signal between each atmospheric polarization type multidimensional detection device and type atmospheric polarization mode detecting system control center in the zone of wherein continuing transmits, and the routing information of self being preserved with the relay modification carries out routing and for dynamically being adjusted by the network structure of relay division.
2. distribution type atmospheric polarization mode detecting system according to claim 1, it is characterized in that in described type atmospheric polarization mode detecting system control center PC being set, described PC comprises main control module, communication management module, data processing module, database module and the graphical display module with human-computer interaction interface; Be connected with the wireless communication module of type atmospheric polarization mode detecting system control center with communication management module in the described PC; Data processing module obtains the atmosphere polarization information data of many geographical environments in the described PC through data processing after receiving the protoatmosphere polarization information data of being gathered by described each atmospheric polarization type multidimensional detection device; Described type atmospheric polarization mode detecting system control center carries out radio communication with its wireless communication module and each relay and each atmospheric polarization type multidimensional detection device.
3. distribution type atmospheric polarization mode detecting system according to claim 1 is characterized in that human-computer interaction module C, power module C and USB interface C that described relay has the data memory module C of MCU single-chip microcomputer C, the wireless communication module C as relay control center, the real-time clock C that system time is provided, store path information and relay service data, supplies user input commands and carry out the system state liquid crystal display; To carry out radio communication between each atmospheric polarization type multidimensional detection device in type atmospheric polarization mode detecting system control center and this relaying zone of wireless communication module C in the described relay; Carry out wired connection with USB interface C in the described relay and type atmospheric polarization mode detecting system control center;
Described relay is preserved the mailing address of each atmospheric polarization type multidimensional detection device in its relaying zone as routing information, the signal relay forward-path of atmospheric polarization type multidimensional detection device and type atmospheric polarization mode detecting system control center in its relaying zone is provided, each frame data that described relay inspection is received, if the Frame destination address is in this relay relaying zone or be broadcast address, source address is type atmospheric polarization mode detecting system control center address, then transmits this Frame; If the Frame destination address is type atmospheric polarization mode detecting system control center address, source address is address in this relay relaying zone, then transmits this Frame; If the Frame destination address is a local address, then this Frame is a control frame, carries out the control command in this Frame; If be other situation, then ignore this Frame.
4. distribution type atmospheric polarization mode detecting system according to claim 1 is characterized in that the structure setting of described atmospheric polarization type multidimensional detection device comprises:
One group of atmosphere polarization information detection sensor (401) is used for atmosphere polarization information and detects;
One light intensity test module (402) has light intensity test device, is used for the light intensity signal detection;
One multi-dimensions test platform (403), has fan-shaped sensor mount (501), cylindricality connecting rod (502), base (503) and data acquisition module erecting bed (504), described fan-shaped sensor mount (501) is set to cantilever design, one end of cantilever is horizontally fixed on the top of cylindricality connecting rod (502), cantilever stretches in the horizontal direction, the cantilever that stretches is the identical central angle Φ bending in fan-shaped every interval by integral body and is each folding face, is fixedly installed on each sensor on the fan-shaped sensor mount and comprises being in the locational central sensor of cylindricality connecting rod top center and being in fan-shaped sensor mount and respectively roll over each side sensor that the same axis in face upper edge is arranged;
One data acquisition module (406), be used to receive the synchronizing information and the control command of user's control module (405), realize the collection and the transmission of atmosphere polarization information, described data acquisition module includes MCU Chip Microcomputer A, data sampling module, data memory module A, digital compass, real-time clock A, wireless communication module A, USB interface A and power module A; With the control center of described MCU Chip Microcomputer A as data acquisition module (406); Described data sampling module is used for simulating signal is carried out digital sample; Described digital compass is used to provide the initial azimuth of multi-dimensions test platform (403); Provide system time with described real-time clock A; Described wireless communication module A be used for keeping and user's control module (405) and and type atmospheric polarization mode detecting system control center between radio communication; Carry out wired connection with described USB interface A and type atmospheric polarization mode detecting system control center; Described power module A is made up of the power circuit that supplies power with double circuit, and is used to provide the power management and the distribution of data acquisition module (406);
One user's control module (405), controlling level universal stage (404) drives horizontally rotating of multi-dimensions test platform (403); Control described data acquisition module (406) and realize the digital sample and the processing of atmosphere polarization information detection sensor (401), gather intensity signal simultaneously by light intensity test module (402) record; The monitoring of control user input and the liquid crystal display of system state, and with the data transmission of described type atmospheric polarization mode detecting system control center, include MCU single-chip microcomputer B, stepper motor driver, wireless communication module B, human-computer interaction module B and power module B; With the control center of described MCU single-chip microcomputer B as user's control module (405); Described stepper motor driver is used for the rotation that drive stepping motor drives horizontal rotating table (404); Described wireless communication module B be used for keeping and data acquisition module (406) and and type atmospheric polarization mode detecting system control center between radio communication; Described human-computer interaction module B is used for the liquid crystal display of user input commands and system state; Described power module B provides the power management and the distribution of user's control module (405).
5. the system control method of the described distribution type atmospheric polarization mode detecting system of a claim 1 is characterized in that carrying out according to the following procedure:
A, user start described type atmospheric polarization mode detecting system control center, send wake command and wake relay and atmospheric polarization type multidimensional detection device up, and check with each relay and atmospheric polarization type multidimensional detection device between communicate by letter whether normal, and calculating communication delay;
B, user control type atmospheric polarization mode detecting system control center and select atmospheric polarization type multidimensional detection device, and acquisition mode and relative set information are set, and send the beginning acquisition; Relay according to the routing information of its storage automatic decision whether transmit the Frame that it is received;
C, receive acquisition mode and relative set information that the atmospheric polarization type multidimensional detection device storage atmosphere polarization mode detection system control center of beginning acquisition sends, return confirmation, begin to gather atmospheric polarization type information then;
D, atmospheric polarization type multidimensional detection device collection finish, and send to gather ending message to type atmospheric polarization mode detecting system control center;
After e, all atmospheric polarization type multidimensional detection devices were all gathered end, the user controlled the image data that the transmitting and receiving data order of type atmospheric polarization mode detecting system control center receives each atmospheric polarization type multidimensional detection device one by one;
F, type atmospheric polarization mode detecting system control center control data processing module are handled the image data that receives automatically;
Whether g, user can select the data of this collection are kept in the database, also can start graphical display module, check the data that are kept in the database with patterned way, the data that are kept in the database are checked and managed to all right log-on data library module;
H, type atmospheric polarization mode detecting system control center send sleep command, and all relays and atmospheric polarization type multidimensional detection device enter the dormancy electricity-saving state, and last type atmospheric polarization mode detecting system control center closes.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102269594A (en) * | 2011-06-27 | 2011-12-07 | 合肥工业大学 | Space navigation method based on path integral |
| CN102413553A (en) * | 2011-12-06 | 2012-04-11 | 广州市弘宇科技有限公司 | Low power consumption method of wireless sensor network and wireless sensor node |
| CN102564404A (en) * | 2012-02-07 | 2012-07-11 | 北京大学 | Polarized remote sensing earth-atmosphere information separation method based on atmosphere neutral point |
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| CN100498286C (en) * | 2006-05-09 | 2009-06-10 | 中国科学院合肥物质科学研究院 | Testing device and method for atmospheric polarization mode |
| CN101441169B (en) * | 2008-12-31 | 2010-09-01 | 合肥工业大学 | Plane four-channel atmosphere polarization information detection sensor |
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| CN102269594A (en) * | 2011-06-27 | 2011-12-07 | 合肥工业大学 | Space navigation method based on path integral |
| CN102269594B (en) * | 2011-06-27 | 2013-04-03 | 合肥工业大学 | Space navigation method based on path integral |
| CN102413553A (en) * | 2011-12-06 | 2012-04-11 | 广州市弘宇科技有限公司 | Low power consumption method of wireless sensor network and wireless sensor node |
| CN102564404A (en) * | 2012-02-07 | 2012-07-11 | 北京大学 | Polarized remote sensing earth-atmosphere information separation method based on atmosphere neutral point |
| CN103115623A (en) * | 2013-01-31 | 2013-05-22 | 中国科学院合肥物质科学研究院 | Positioning system and method based on bionic polarized light navigation |
| CN103115623B (en) * | 2013-01-31 | 2015-08-26 | 中国科学院合肥物质科学研究院 | Based on the localization method of the positioning system of polarized light bionic navigation |
| CN115200543A (en) * | 2022-05-26 | 2022-10-18 | 北京大学 | Earth sky light polarization basic field observation method based on atmospheric scattering |
| CN115200543B (en) * | 2022-05-26 | 2023-12-19 | 北京大学 | Earth sky light polarization basic field observation method based on atmospheric scattering |
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