CN102621523A - Method and system for calibrating borderless sample plot - Google Patents
Method and system for calibrating borderless sample plot Download PDFInfo
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- CN102621523A CN102621523A CN201210101558XA CN201210101558A CN102621523A CN 102621523 A CN102621523 A CN 102621523A CN 201210101558X A CN201210101558X A CN 201210101558XA CN 201210101558 A CN201210101558 A CN 201210101558A CN 102621523 A CN102621523 A CN 102621523A
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Abstract
The invention discloses a method and a system for calibrating a borderless sample plot. The method comprises the steps that A) a plurality of anchor nodes are arranged in the measured sample plot and the positions of the anchor nodes are determined; B) one locating node is placed at measured targets; C) a central processing module conducts radio frequency communication through controlling the locating node and the plurality of anchor nodes, and a plurality of distance data between the locating node and the plurality of anchor nodes are obtained; D) the central processing module calculates the position of the locating node by utilizing the plurality of distance data and the position data of the plurality of anchor nodes; and E) the step B) and the step D) are repeated, the position data of other locating nodes are obtained, and the area of the measured sample plot and the density of the measured targets in the measured sample plot are determined by utilizing the obtained position data of the plurality of locating nodes. By adopting the method and the system, the measured targets can be rapidly positioned, so that both the position measuring efficiency and the measuring accuracy of the measured targets are improved.
Description
Technical field
The present invention relates to a kind of non-boundary appearance ground scaling method and relevant system in the forestry.
Background technology
In the forestry investigation, the calibration of appearance ground is a kind of conventional means, is used for measuring and adding up the situation such as plant distribution on a detected sample ground.Tradition appearance ground calibrating method is through manual work mark and distance of each target in the manual measurement appearance ground successively in appearance ground, thereby obtains the information such as position of each target.
Therefore the tradition calibrating method exists deficiency owing to pass through artificial the completion fully at aspects such as efficient and measuring accuracy, usually each measurement needs plenty of time and manpower.
The tradition calibrating method is because artificial restriction, and the zone on detected sample ground needs pre-set, and promptly detected sample ground usually can only the selective rule shape, generally selects regular shapes such as circle or rectangle for use, and can't demarcate erose detected sample ground.
Therefore, tradition appearance ground calibrating method exists speed slow, and efficient is low, shortcomings such as very flexible.
Summary of the invention
The object of the present invention is to provide a kind of non-boundary appearance ground to demarcate method and system, can solve the quick positioning question of the measured target position in the irregular detected sample ground better on a large scale.
According to an aspect of the present invention, a kind of non-boundary appearance ground scaling method that provides comprises:
A) a plurality of anchor nodes are set in detected sample ground, and confirm its position;
B) location node is placed on the measured target place;
C) central processing module obtains a plurality of range data between said location node and said a plurality of anchor node through controlling said location node and said a plurality of anchor node carries out radio communication;
D) central processing module utilizes the position data of said a plurality of range data and said a plurality of anchor nodes, calculates the position of said location node;
E) repeating step B) to step D), obtain other a plurality of location nodes positions, and utilize the said a plurality of location nodes position that obtains, confirm measured target density in tested sample area and the detected sample ground.
Preferably, said step C) comprising:
Central processing module sends the locator data bag and receives the response data packet that said a plurality of anchor nodes respond said locator data bag to said a plurality of anchor nodes through controlling said location node; Obtain the transmitting time and the time of reception of said locator data bag and said response data packet; And utilize said transmitting time and said time of reception, calculate a plurality of range data between said location node and said a plurality of anchor node.
Preferably, the transmitting time of said locator data bag and said response data packet and the obtaining step of time of reception are specially:
Location node sends the locator data bag to anchor node, and the transmitting time that generates and preserve said locator data bag is stabbed T1;
Anchor node receives said locator data bag, and the time of reception that generates and preserve said locator data bag stabs T2, and sends response data packet to said location node;
Location node receives said response data packet, generates and preserve the time of reception T4 of said response data packet;
Resolve said response data packet, the transmitting time of extracting said response data packet is stabbed the time of reception stamp T2 of T3 and said locator data bag;
Location node is sent to central processing module with said time stamp T 1, T2, T3 and T4, for the range data between central processing module compute location node and each anchor node.
Preferably, said step C) also comprise the range data calibration steps:
Central processing module utilizes the range calibration parameter of predetermined each anchor node, calibrates the range data of said location node to each anchor node, a plurality of range data that obtain calibrating.
Preferably, the range calibration Determination of Parameters step of said each anchor node comprises:
Carry out said step B) preceding; A location node is placed on a plurality of known position successively; Through controlling said location node and each anchor node carries out radio communication, obtain a plurality of measuring distance data between said a plurality of known location and said each anchor node successively;
According to the position data of said a plurality of known location data and each anchor node, confirm a plurality of actual range data of said a plurality of known location and each anchor node;
Utilize said a plurality of measuring distance data and said a plurality of actual range data; Calculate the range calibration parameter that comprises scale parameter and offset parameter of each anchor node, so that correct through the location node that is placed on the measured target place of radio communication measurement and the range data between said anchor node.
Preferably, said step D) be specially:
Central processing module utilizes a plurality of range data of said calibration and the position data of said a plurality of anchor nodes, and the position data of compute location node is also preserved.
Preferably, said step e) in, definite step of said tested sample area comprises:
Central processing module is confirmed the location node position, edge in the detected sample ground according to said a plurality of location node position datas, and location node position, said a plurality of edge is connected the back closed region that forms as tested sample area;
According to said edge location node position data, calculate tested sample area.
Preferably, said step e) in, definite step of said measured target density comprises:
Central processing module is confirmed the measured target number in the said detected sample ground according to said a plurality of location node position datas;
According to said measured target number and said tested sample area, obtain the measured target density in the detected sample ground.
According to a further aspect in the invention, a kind of non-boundary appearance ground calibration system that provides comprises:
The a plurality of anchor nodes of confirming the position that in detected sample ground, are provided with;
Be placed on the location node at measured target place;
Central processing module; Be used for through controlling said location node and said a plurality of anchor node carries out radio communication; Obtain a plurality of range data between said location node and said a plurality of anchor node; And utilize the position data of said a plurality of range data and said a plurality of anchor nodes, the position of calculating said location node;
Wherein, central processing module obtains other a plurality of location nodes positions through location node being placed on other measured target place, and utilizes the said a plurality of location nodes position that obtains, and confirms measured target density in tested sample area and the detected sample ground.
Preferably; Said central processing module utilizes predetermined range calibration parameter; Calibrate the said a plurality of range data of said location node, and utilize a plurality of range data of said calibration and the position data of said a plurality of anchor nodes, confirm the position of location node to said a plurality of anchor nodes.
Compared with prior art, beneficial effect of the present invention is: the present invention can realize the demarcation on irregular detected sample ground on a large scale, has the advantages that demarcation speed is fast, efficient is high, dirigibility is good.
Description of drawings
Fig. 1 is the non-boundary appearance ground scaling method schematic diagram that the embodiment of the invention provides;
Fig. 2 is that method flow diagram is demarcated on the non-boundary appearance ground that the embodiment of the invention provides;
Fig. 3 is the tested sample area that provides of the embodiment of the invention and the algorithm flow chart of measured target density;
Fig. 4 is the position view of anchor node and measured target in the non-boundary appearance ground that provides of the embodiment of the invention;
Fig. 5 is the non-boundary appearance ground calibration system structural drawing that the embodiment of the invention provides.
Embodiment
, should be appreciated that following illustrated preferred embodiment only is used for explanation and explains the present invention, and be not used in qualification the present invention a preferred embodiment of the present invention will be described in detail below in conjunction with accompanying drawing.
For realizing that interior measured target is located fast on a large scale; The present invention has used (the Chirp Sequence Spread based on CSS; The linear frequency modulation expansion) wireless location technology; It has the low and strong advantage of antijamming capability of emissive power, can satisfy the location requirement under the forestry complex environment.The present invention is through the distance of direct measurement and positioning node to each anchor node; The position of compute location node that is to say, location node is placed the measured target place; Can measure the position of measured target; Single positioning time is less than 1s, and can directly generate data and storage, therefore on measuring speed, is much better than artificial calibrating method.
Fig. 1 is the non-boundary appearance ground scaling method schematic diagram that the embodiment of the invention provides, and is as shown in Figure 1, comprising:
Step S101, a plurality of anchor nodes are arranged in the appropriate location in the detected sample ground, and measure the accurate position of a plurality of anchor nodes.
Step S102, a location node is placed on the measured target place, so that carry out position measurement.
Further; Carry out said step B) preceding; A location node is placed on a plurality of known position successively,, obtains a plurality of measuring distance data between said a plurality of known location and said each anchor node successively through controlling said location node and each anchor node carries out radio communication;
According to the position data of said a plurality of known location data and each anchor node, confirm a plurality of actual range data of said a plurality of known location and each anchor node;
Utilize said a plurality of measuring distance data and said a plurality of actual range data; Calculate the range calibration parameter that comprises scale parameter and offset parameter of each anchor node, so that correct through the location node that is placed on the measured target place of radio communication measurement and the range data between said anchor node.
Step S103, central processing module obtain a plurality of range data between said location node and said a plurality of anchor node through controlling said location node and said a plurality of anchor node carries out radio communication.
Further; Central processing module sends the locator data bag and receives the response data packet that said a plurality of anchor nodes respond said locator data bag to said a plurality of anchor nodes through controlling said location node; Obtain the transmitting time and the time of reception of said locator data bag and said response data packet; And utilize said transmitting time and said time of reception, calculate a plurality of range data between said location node and said a plurality of anchor node.Specifically, location node sends the locator data bag to anchor node, and the transmitting time that generates and preserve said locator data bag is stabbed T1; Anchor node receives said locator data bag, and the time of reception that generates and preserve said locator data bag stabs T2, and sends response data packet to said location node; Location node receives said response data packet, generates and preserve the time of reception T4 of said response data packet; Resolve said response data packet, the transmitting time of extracting said response data packet is stabbed the time of reception stamp T2 of T3 and said locator data bag; According to said time stamp T 1, T2, T3 and T4, confirm the range data between location node and each anchor node.Further,, can location node be placed measured target different azimuth on every side successively for accuracy of measurement is provided, and difference measuring position information.
Further, central processing module utilizes the range calibration parameter of predetermined each anchor node, calibrates the range data of said location node to each anchor node, a plurality of range data that obtain calibrating.
Step S104, central processing module utilize the position data of said a plurality of range data and said a plurality of anchor nodes, calculate the position of said location node, and write down the position data of said location node.
Further, central processing module utilizes a plurality of range data of said calibration and the position data of said a plurality of anchor nodes, the position data of compute location node.
Step S105, repeating step S102 obtain other a plurality of location nodes positions to step S104, so that utilize the said a plurality of location nodes position that obtains, confirm measured target density in tested sample area and the detected sample ground.
Specifically, central processing module is confirmed the location node position, edge in the detected sample ground according to said a plurality of location node position datas, and location node position, said a plurality of edge is connected the area of the closed region of back formation as detected sample ground; According to said edge location node position data, calculate tested sample area.Central processing module is confirmed the measured target number in the said detected sample ground according to said a plurality of location node position datas; According to said measured target number and said tested sample area, obtain the measured target density in the detected sample ground.
Fig. 2 is that method flow diagram is demarcated on the non-boundary appearance ground that the embodiment of the invention provides, and is as shown in Figure 2, may further comprise the steps:
Step S201, layout are used for a plurality of anchor nodes of reference, and said a plurality of anchor nodes are fixed on the correct position in the detected sample ground, and measure the position of anchor node.
Anchor node is placed on the good position of communication when placing anchor node as far as possible, makes it be in suitable communication environment, and disperse between the anchor node as far as possible, to improve the accuracy of measuring.
When measuring the position of anchor node, can use traditional calibrating method, promptly in the calibration of forestry appearance ground, adopt the method for the direct measuring positions of instrument such as tape measure.Specifically, at first confirm two vertical reference lines, form coordinate axis in the detected sample destination edge, use then instrument such as tape measure measure anchor node position to two datum line apart from x and y, be anchor node in the coordinate position data (x, y).
Further, can also obtain the distance between anchor node, so that provide more calibration data to supply system calibration to use according to the position data of measuring.
Step S202, start-up system are also carried out initialization, and a plurality of position datas of a plurality of anchor nodes of input measurement are also carried out the calibration between the anchor node, and initialization range calibration parameter (measurement correlation parameter) makes system get into normal operating conditions.
Step S203, the calibration of anchor node location.
In detected sample ground, choose a plurality of positions; And use classic method to carry out position measurement; A location node is placed said a plurality of known location successively; Central processing module set up through said location node and each anchor node between radio communication, and obtain said a plurality of known location that said location node belongs to successively and a plurality of measuring distance data between each anchor node.Said a plurality of known location data and said each anchor node position data are inputed to central processing module handle, obtain the actual range data of said a plurality of known location data and said each anchor node.According to said a plurality of actual range data and said a plurality of measuring distance data, the range calibration parameter in the calibration system is used for revising measurement result in follow-up measurement, improves measuring accuracy.If calibration point is less; Can use linear gauging; Calibration data comprises scale parameter and offset parameter two parts parameter of measuring distance and actual range; If calibration point is more, can calibration data be set up a look-up table, use the data of nearest several calibration points to calibrate during range finding according to the method for linear gauging.
Step S204, measure each measured target position and other information, and record data.
When carrying out the measured target position measurement; Location node is placed the measured target place; Central processing module obtains a plurality of range data of location node and a plurality of anchor nodes through the control location node; And utilize said a plurality of range data and said a plurality of anchor node position data, and calculating the position data of current location node, its computing method and GPS location algorithm are similar.In order to reach higher measuring accuracy, can carry out repeatedly duplicate measurements to same measured target, be about to the different azimuth on every side that location node places measured target successively, and difference measurement and positioning node location data.
Accuracy for guaranteeing to measure can place the location node that central processing module connected suitable position.The position that is to say location node is approaching with measured target, will guarantee simultaneously to carry out efficient communication with each anchor node, preferably can be in visibility status with the anchor node more than three.
Further, central processing module is stored said location node position data in its memory device, and is presented on the human-computer interaction interface through man-machine interface.In addition, can also store other information of measured target, the kind of the trees of for example measuring in the forestry, highly, data such as the diameter of a cross-section of a tree trunk 1.3 meters above the ground.
Step S205, derivation data measured.
After raw data acquisition finishes, can data be exported to equipment such as PC from the memory device of central processing module, handle so that carry out late time data through movable memory equipment or interface.
Step S206, late time data are handled.
Use the corresponding software among the PC that data are handled, obtain the analysis result of ultimate demand.
It should be noted that central processing module also can carry out corresponding data processing to the data of its storage, obtain the analysis result that needs.
Fig. 3 is the tested sample area that provides of the embodiment of the invention and the algorithm flow chart of measured target density, and is as shown in Figure 3, carries out that late time data is handled and to obtain the detailed process of analysis result following:
After step S301, raw data acquisition finish, can the data of central processing module storage be exported to PC, carry out late time data and handle, also can directly handle at the enterprising line data of central processing module.
Step S302, according to a plurality of location node position datas, find the location node position, edge (measured target position, edge) that is in outermost.
Step S303, the location node position, edge that will be in outset part connect successively, obtain the closed region, as the border on detected sample ground, and calculate the area on detected sample ground.
Step S304, the measured target in the detected sample ground is counted, will be in borderline measured target and be designated as 0.5, to remove boundary effect.
Data such as tested sample area that step S305, use obtain and measured target number, measured target density with obtaining detected sample.
Step S306, carry out other Data Management Analysis work according to the concrete condition of required research.
Fig. 4 is the position view of anchor node and measured target in the non-boundary appearance ground that provides of the embodiment of the invention, and is as shown in Figure 4.Have a plurality of measured targets (like trees) to need to measure on the ground a detected sample, numbering is respectively 1～8.
Before measuring the measured target position; Some a plurality of anchor nodes are arranged in the position that is suitable for communicating by letter around the detected sample ground; As scheme A, B, three positions of C (also can arrange more anchor nodes), use classic method to measure the position of anchor node, and location node is placed on known position; So that after starting central processing module and each anchor node, central processing module can be set up communication linkage through location node and each anchor node.
For an anchor node; Carry out radio communication through control location node and said anchor node; Can access the known location at said location node place and measuring distance data of said anchor node; In like manner, location node is placed into other known location successively, can accesses other a plurality of measuring distance data between other known location and said anchor node.In said anchor node position data and said a plurality of known location data input central processing module, can calculate said a plurality of known location to a plurality of actual range data of said anchor node.Utilize said a plurality of measuring distance data and said a plurality of actual range data, can calculate the range calibration parameter of the required said anchor node of calibration, calibration measurement result during for follow-up measuring distance.For example, when calibrating for the first time, location node is placed on first known position; Said location node (i.e. first known position) is 19m apart from the actual range of anchor node 1, and that measure is 20m, when calibrating for the second time; Said location node is placed on second known position, and said location node (i.e. second known position) is 28m apart from the actual range of anchor node 1, and that measure is 30m; If suppose D (reality)=k*D (measurement)+a, wherein D (reality) is the actual range that the known location data computation through anchor node and location node obtains, and D (measurement) is the measuring distance that measures through the radio communication wireless distance finding; K is a scale parameter; With a be offset parameter, then can calculate two parameter k=0.9 that are used for range calibration, a=-1.Therefore, when measuring the position of measured target, only need, and obtain the measuring distance data, the range data after can obtaining calibrating through radio communication according to formula D (reality)=0.9*D (measurement)-1.
When measuring the measured target position; Location node is positioned over the measured target place; Be about to location node and place shown in the figure 1～8 position respectively, central processing module carries out radio communication, the range data of compute location node and said a plurality of anchor nodes through control location node and a plurality of anchor node; Thereby the position data of compute location node, and write down said position data.In order to improve measuring accuracy, can location node be placed successively the different azimuth on every side of measured target, and difference measuring position information.Central processing module is stored in the data (like kind, height etc.) of the location node position data that obtains together with other in its memory device, accomplishes data acquisition.
When carrying out data analysis; At first, confirm to be positioned at the location node position, edge of detected sample ground outermost, and location node position, said a plurality of edge is connected according to the location node position data; Obtain the border on detected sample ground; Connect closed region that the back forms area as detected sample ground, the border on the detected sample ground that is connected to form like location node position (measured target) 1,2,5,7,8 among the figure, the closed region said border in is the area on detected sample ground.The measured target of outermost can make by hand to be confirmed; Also can service routine confirm automatically; The principle that the border is confirmed is, if the line between two measured targets makes all the other measured targets all be distributed in the same side of line, then these two measured targets are positioned at border, detected sample ground; For example 1 and 5 line makes all the other measured targets 2,3,4,6,7,8 be distributed in the same side of line.
When calculating the measured target number, will be in borderline measured target and calculate by 0.5, the measured target that will be in the border calculates by 1, thereby obtains the destination number in kind ground.As shown in the figure, the measured target that records has 8, and wherein 1,2,5,7,8 are on the border, its each calculate by 0.5,3,4,6 are in the border, its each calculate by 1, therefore, the measured target number in the said detected sample ground is 5.5.According to said tested sample area and measured target number thereof, can calculate the density of measured target in detected sample ground.
Likewise, through other data that collect, can accomplish other data analysis task.
Above-mentioned measured target refers to object to be measured in the detected sample ground, for example, in forestry, is often referred to the vegetation in the detected sample ground, trees etc.
Fig. 5 is the non-boundary appearance ground calibration system structural drawing that the embodiment of the invention provides, and is as shown in Figure 5, comprises a plurality of anchor node 1, location node 2 and central processing module 3.
The said a plurality of anchor nodes 1 of confirming the position that in detected sample ground, are provided with, the system of being used to provides the position reference coordinate, its each comprise:
Wireless module 11 with communication chip is used for communication and location, in be useful on the coding that makes central processing module discern different anchor nodes, wherein, said communication chip uses 2.4GHz frequency range radiofrequency signal to communicate;
Antenna 12 is used for emission and received RF signal;
Power supply 13 is used for electric energy to electron device being provided.
Be placed on the location node 2 at measured target place, be used to measure the position of measured target, comprising:
Wireless module 21 with communication chip is used for communicating with anchor node, so that calculate the range data between itself and anchor node, wherein, said communication chip uses 2.4GHz frequency range radiofrequency signal to communicate;
Antenna 22 is used for emission and received RF signal;
Communication interface 23 is used for communicating with central processing module, realizes wired or wireless data transmission, promptly is used for to host computer transmission data;
If said location node 2 carries out wireless data transmission with said central processing module 3, said location node 2 also comprises and is used to the power supply that electron device provides electric energy.
Said central processing module 3; Be used for carrying out radio communication with said a plurality of anchor nodes 1 through controlling said location node 2; Obtain a plurality of range data of 1 of said location node 2 and said a plurality of anchor node; And utilize the position data of said a plurality of range data and said a plurality of anchor node 1, the position of calculating said location node 2.Said central processing module 3 comprises:
Connect the master controller 31 of location node 2, be used to control location node and anchor node and carry out radio communication;
Memory device 32 is used to store data;
Man-machine interface 33 is used for receiving and the explicit user input command;
Power supply 34 is used for electric energy to electron device being provided.。
Because system uses master controller 31 to control, the range data of measurement can be changed and transmit easily, than the artificial data interpretation of records of classic method accurate and effective rate more.
Said central processing module 3 is controlled it and is carried out range observation and obtain data carrying out position calculation through communicating by letter with location node 2.That is to say that said central processing module 3 carries out radio communication through controlling said location node 2, obtains the distance between location node 2 and each anchor node 1, and obtains the position of location node 2 through the position calculation of known anchor node 1.Particularly; Use the general frequency range of 2.4GHz ISM to carry out radio communication between said location node 2 and the said a plurality of anchor node 1; In each data packets for transmission; Except the data that comprise user's transmission are used for also having comprised temporal information the communication, be used for the measurement data bag from being transmitted into the mistiming of reception.During the location; Said location node 2 sends packet a to anchor node 1; Anchor node 1 receives back generation another one packet and sends it back said location node 2; Wherein write down the temporal information of data packet transceive, said location node 2 receives the back just can obtain measured four time datas altogether of transceive data bag twice.After said central processing module 3 is received said four time datas from said location node 2, utilize said four time datas to calculate the mistiming between the transceive data bag, thereby calculate the range data of said location node 2 and anchor node 1.
Said central processing module 3 utilizes predetermined range calibration parameter; Calibrate the said a plurality of range data of said location node 2 to said a plurality of anchor nodes 1; And utilize a plurality of range data of said calibration and the position data of said a plurality of anchor node 1, confirm the position of location node 2.
Further, central processing module 3 obtains other a plurality of location nodes positions through location node 2 being placed on other measured target place, and utilizes the said a plurality of location nodes position that obtains, and confirms measured target density in tested sample area and the detected sample ground.Particularly, can obtain tested sample area through calculating the area of outermost measured target institute join domain; In the measured target counting, will be in borderline measured target and calculate by 0.5, the measured target that is in the border calculates by 1, thereby obtains the measured target number, is used for follow-up required Treatment Analysis work.
Further, central processing module 3 can also reach PC through movable memory equipment or data-interface with the data in its memory device 32 and carries out work such as post-processed.
In sum, the present invention has following technique effect:
1, the present invention can realize the fast target location, has saved Measuring Time, has improved the position measurement efficient of measured target;
2, non-boundary appearance of the present invention ground calibration system has been realized overall process digitizing robotization, improves the efficient and the accuracy of survey crew;
3, the present invention can demarcate the appearance ground of arbitrary shape, appearance ground is demarcated no longer be confined to the preset rule shape, has increased the dirigibility of appearance ground calibration.
Although preceding text specify the present invention, the invention is not restricted to this, those skilled in the art of the present technique can carry out various modifications according to principle of the present invention.Therefore, all modifications of doing according to the principle of the invention all are to be understood that to falling into protection scope of the present invention.
Claims (10)
1. a non-boundary appearance ground scaling method is characterized in that, comprising:
A) a plurality of anchor nodes are set in detected sample ground, and confirm its position;
B) location node is placed on the measured target place;
C) central processing module obtains a plurality of range data between said location node and said a plurality of anchor node through controlling said location node and said a plurality of anchor node carries out radio communication;
D) central processing module utilizes the position data of said a plurality of range data and said a plurality of anchor nodes, calculates the position of said location node;
E) repeating step B) to step D), obtain other a plurality of location nodes positions, and utilize the said a plurality of location nodes position that obtains, confirm measured target density in tested sample area and the detected sample ground.
2. method according to claim 1 is characterized in that, said step C) comprising:
Central processing module sends the locator data bag and receives the response data packet that said a plurality of anchor nodes respond said locator data bag to said a plurality of anchor nodes through controlling said location node; Obtain the transmitting time and the time of reception of said locator data bag and said response data packet; And utilize said transmitting time and said time of reception, calculate a plurality of range data between said location node and said a plurality of anchor node.
3. method according to claim 2 is characterized in that, the transmitting time of said locator data bag and said response data packet and the obtaining step of time of reception are specially:
Location node sends the locator data bag to anchor node, and the transmitting time that generates and preserve said locator data bag is stabbed T1;
Anchor node receives said locator data bag, and the time of reception that generates and preserve said locator data bag stabs T2, and sends response data packet to said location node;
Location node receives said response data packet, generates and preserve the time of reception T4 of said response data packet;
Resolve said response data packet, the transmitting time of extracting said response data packet is stabbed the time of reception stamp T2 of T3 and said locator data bag;
Location node is sent to central processing module with said time stamp T 1, T2, T3 and T4, for the range data between central processing module compute location node and each anchor node.
4. method according to claim 3 is characterized in that, said step C) also comprise the range data calibration steps:
Central processing module utilizes the range calibration parameter of predetermined each anchor node, calibrates the range data of said location node to each anchor node, a plurality of range data that obtain calibrating.
5. method according to claim 4 is characterized in that, the range calibration Determination of Parameters step of said each anchor node comprises:
Carry out said step B) preceding; A location node is placed on a plurality of known position successively; Through controlling said location node and each anchor node carries out radio communication, obtain a plurality of measuring distance data between said a plurality of known location and said each anchor node successively;
According to the position data of said a plurality of known location data and each anchor node, confirm a plurality of actual range data of said a plurality of known location and each anchor node;
Utilize said a plurality of measuring distance data and said a plurality of actual range data; Calculate the range calibration parameter that comprises scale parameter and offset parameter of each anchor node, so that correct through the location node that is placed on the measured target place of radio communication measurement and the range data between said anchor node.
6. according to claim 4 or 5 described methods, it is characterized in that said step D) be specially:
Central processing module utilizes a plurality of range data of said calibration and the position data of said a plurality of anchor nodes, and the position data of compute location node is also preserved.
7. method according to claim 6 is characterized in that, said step e) in, definite step of said tested sample area comprises:
Central processing module is confirmed the location node position, edge in the detected sample ground according to said a plurality of location node position datas, and location node position, said a plurality of edge is connected the back closed region that forms as tested sample area;
According to said edge location node position data, calculate tested sample area.
8. method according to claim 5 is characterized in that, said step e) in, definite step of said measured target density comprises:
Central processing module is confirmed the measured target number in the said detected sample ground according to said a plurality of location node position datas;
According to said measured target number and said tested sample area, obtain the measured target density in the detected sample ground.
9. a non-boundary appearance ground calibration system is characterized in that, comprising:
The a plurality of anchor nodes of confirming the position that in detected sample ground, are provided with;
Be placed on the location node at measured target place;
Central processing module; Be used for through controlling said location node and said a plurality of anchor node carries out radio communication; Obtain a plurality of range data between said location node and said a plurality of anchor node; And utilize the position data of said a plurality of range data and said a plurality of anchor nodes, the position of calculating said location node;
Wherein, central processing module obtains other a plurality of location nodes position through location node being placed on other measured target place, and utilizes the said a plurality of location nodes position that obtains, and confirms measured target density in tested sample area and the detected sample ground.
10. system according to claim 9; It is characterized in that; Said central processing module utilizes predetermined range calibration parameter; Calibrate the said a plurality of range data of said location node, and utilize a plurality of range data of said calibration and the position data of said a plurality of anchor nodes, confirm the position of location node to said a plurality of anchor nodes.
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| CN102869102A (en) * | 2012-09-26 | 2013-01-09 | 重庆基伍科技有限公司 | Asynchronous adaptive relative timeslot distribution method based on chirp spread spectrum (CSS) technology |
| CN115950407A (en) * | 2023-03-13 | 2023-04-11 | 四川大学 | Concentric circle forest sample plot survey and measurement method |
| CN115979228A (en) * | 2023-03-13 | 2023-04-18 | 四川省林业和草原调查规划院(四川省林业和草原生态环境监测中心) | Method for measuring forest sample plot boundary and sample wood position |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102869102A (en) * | 2012-09-26 | 2013-01-09 | 重庆基伍科技有限公司 | Asynchronous adaptive relative timeslot distribution method based on chirp spread spectrum (CSS) technology |
| CN102869102B (en) * | 2012-09-26 | 2014-11-26 | 重庆基伍科技有限公司 | Asynchronous adaptive relative timeslot distribution method based on chirp spread spectrum (CSS) technology |
| CN115950407A (en) * | 2023-03-13 | 2023-04-11 | 四川大学 | Concentric circle forest sample plot survey and measurement method |
| CN115979228A (en) * | 2023-03-13 | 2023-04-18 | 四川省林业和草原调查规划院(四川省林业和草原生态环境监测中心) | Method for measuring forest sample plot boundary and sample wood position |
| CN115979228B (en) * | 2023-03-13 | 2024-01-16 | 四川省林业和草原调查规划院(四川省林业和草原生态环境监测中心) | Forest sample plot boundary and sample wood position measurement method |
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