CN103079288A - Method for collecting data of wireless sensor network on basis of high-speed train - Google Patents
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Abstract
The invention discloses a method for collecting data of a wireless sensor network on the basis of a high-speed train, which comprises the following steps of: arranging sensor nodes on a bridge or a tunnel far away from a city for acquiring structural health monitoring data of buildings; determining a coverage range, a sensor number and a transmission range of the wireless sensor network and using one sensor node in each cluster as a fusion node of the cluster; determining a data fusion mode of the network, a data transmission mode and a data fusion mode of aggregation nodes; determining the number of vehicle-mounted signal transceivers on the train, arrangement positions of the vehicle-mounted signal transceivers and running parameters of the train; determining data transmission modes of the aggregation nodes and the vehicle-mounted signal transceivers; reconstructing lost data in the broadcasting process; and reconstructing a data stream, then carrying out data fusion and uploading the fused data to a data center so as to complete data collection. According to the invention, power consumption of the sensor nodes is reduced and service life of the network is prolonged.
Description
Technical field
The present invention relates to a kind of method of data capture, specifically a kind of radio sensor network data collection method, more specifically a kind of radio sensor network data collection method based on the high ferro train.
Background technology
MEMS (micro electro mechanical system) (Micro-Electro-Mechanism System, MEMS), SOC (system on a chip) (SOC, System on Chip), the develop rapidly of radio communication and low-power-consumption embedded technology, be pregnant with wireless sensor network (Wireless Sensor Networks, and a change that has brought information Perception with its low-power consumption, low cost, characteristics distributed and self-organizing WSNs).Wireless sensor network forms by being deployed in microsensor nodes a large amount of in the monitored area, the network system of the self-organizing of a multi-hop that forms by communication, its objective is the information of perceived object in collaboratively perception, the acquisition and processing network's coverage area, and sensing results is sent to aggregation node (Sink).There is important scientific research to be worth in many fields such as military and national defense, industrial or agricultural, city management, intelligent transportation, environmental monitoring, rescue and relief work, Smart Home, anti-probably anti-terrorism, deathtrap Long-distance Control and application prospect widely.
At present, new application focus of wireless sensor network then is the monitoring structural health conditions (structural health monitoring, SHM) for bridge and tunnel.In the structural healthy monitoring system based on WSN, sensor node is arranged in and is used for image data on bridge and the tunnel.These data are transferred to data center further, are used for characterizing the integrality of these building structure, and detect and locate the damage that exists in the building.At present researcher and design and development many structural healthy monitoring systems based on WSN, in their system, aggregation node or data center all directly be arranged in monitoring target near, the data that collect of sensor network only need just can finish by the transmission of several jumpings the collection of data like this.
But for most bridge and tunnel, they are away from the city, process and need to be transferred to equally data center for their monitoring structural health conditions data.In this case, efficient data acquisition system of design may face the challenge of some uniquenesses.At first, the sensor network of layout and the distance between the control centre will be very far away.If adopt traditional multi-hop data transmission, its energy consumption and time delay all are very large.More precisely, in order to guarantee the multi-hop transmission of this long distance, then more sensor node and base station as relaying need to be arranged on the way, a large amount of materials and equipment resources can be wasted equally like this, more serious, even the biological environment around may destroying.Secondly, between the initial data that the sensor node of different asynchronism(-nization)s collects, have temporal correlation, therefore do not need all initial data all are transferred to control centre for the efficient that improves transmission.For these characteristics, original method of data capture all will not be suitable for the sensor data collection away from the city.
The people such as Qian Zhang were used as the mine car in the colliery as mobile aggregation node (mobile sink) in 2010 and collect data in " Delay Tolerant EventCollection in Sensor Networks with Mobile Sink " that INFOCOM ' 10 delivers.The life-span that they have utilized the temporal correlation of mobile aggregation node and data to come maximization network, and the speed of assurance event collection.But in their work, when the space-time of two packet captures distance was all very near, they just thought that this is same packet, only one of them were sent to mobile aggregation node, namely mine car at last.Improve like this transmission rate of whole network, but but reduced reliability.
The people such as Xiang-Yang Li in 2009 at Proc.of The 6th Annual IEEECommunications Society Conference on Sensor, in " Order-Optimal Data Collection in WirelessSensor Networks:Delay and Capacity " that Mesh and Ad Hoc Communicationsand Networks (SECON ' 09) delivers, whole network is divided into a lot of little square nets, then data all in each grid are merged, will merge again good transfer of data to aggregation node.But they have only considered the simplest fusion situation, and namely all data can both be fused into a packet on same node, can lose so very multidata effective information, and this does not conform to a lot of actual conditions.
In addition, the data fusion method TiNA (TiNA:A Scheme forTemporal Coherency-Aware in-Network Aggregation) that the people such as M.A.Sharaf propose has considered the temporal correlation of sensing data, and the data fusion method CAG (Exploiting Spatial CorrelationTowards an Energy Efficient Clustered Aggregation Technique (CAG)) that the people such as S.Yoon propose has then utilized the spatial coherence of data.But in their work, all only paid close attention to and collected complete sensor reading, and do not considered the mobility of aggregation node.
Find through retrieval again, China's number of applying for a patent is: 200710019928.4, name is called: based on the radio sensor network data collection method of multi-agent negotiation, this technology provides a kind of method of data capture of the wireless sensor network based on static aggregation node, but this technology does not have proof for the applicability of mobile sink node; China's number of applying for a patent is: 200710304581.8, name is called: the sensor data collection system in the urban environment, this technology has proposed a kind of method of data capture of wireless sensor network of movement-based vehicle vehicle-mounted information transceiver, but the scene when this technology is not considered sensor node away from the city.
Summary of the invention
Goal of the invention: for the problem and shortage of above-mentioned prior art existence, the purpose of this invention is to provide a kind of wireless senser based on the high ferro train (the present invention also is called for short " transducer ") network data acquisition method, utilize the high ferro train to finish the collection of data, so that the sensor node of disposing away from the city does not need multi-hop just can realize data upload, route and the fusion function simultaneously former cause sensor node finished are transferred on the powerful mobile unit, not only greatly reduce the power consumption of sensor node, prolonged network life, and whole system has good autgmentability.
Technical scheme: for achieving the above object, the technical solution used in the present invention is a kind of radio sensor network data collection method based on the high ferro train, may further comprise the steps:
Sensor node is arranged on the bridge or tunnel away from the city, is used for gathering the monitoring structural health conditions data of these buildings;
Determine the quantity of scope that wireless sensor network covers, transducer that described network comprises, the transmission range R of described transducer;
To described network cluster dividing, in each described bunch, select a sensor node as described bunch aggregators;
Determine the data fusion mode of data fusion mode, data transfer mode and the aggregation node of described network;
The data fusion mode of described aggregation node comprises the steps: that each described information comprises the frame of its rise time of record; Described aggregation node merged according to the rise time of described information, and the information that the same time is generated merges according to spatial coherence; Information after the described data fusion is stored in the buffer area of described aggregation node in chronological order, forms the data flow that continues;
Determine the quantity of vehicle-mounted signal transceiver on the train, the position of described cab signal transceiver layout, the parameter of train operation;
Determine the data transfer mode of described aggregation node and described cab signal transceiver;
Adopt multiple linear regression model that missing data in the broadcasting process is reconstructed;
The data that receive according to described cab signal transceiver are reconstructed described data flow, then carry out data fusion according to temporal correlation;
Described train during through base station or station with the data upload of described fusion to data center, finish Data Collection.
Further, described network cluster dividing comprises the steps: that aggregation node take described network as the center of circle, is divided into m layer with several concentric circless with described network, and described layer is the annulus that width is r, described width
Each described layer is divided at least one bunch, and described bunch is fan-shaped, and described bunch area is π r
2
Further, described bunch aggregators is the nearest sensor node in arcuate midway point position of the inner circle of described bunch of described intra-cluster distance.
Further, described bunch the aggregators that is in described wireless sensor network bosom is described aggregation node.
Further, the data fusion mode of described network comprises the steps: a layer interior data fusion, each aggregators of described bunch that the interior data fusion of described layer is described layer receives the information that all the sensors in described bunch collects, and the data fusion of carrying out; Interlayer data fusion, described interlayer data fusion are the information that the aggregators of described layer receives the aggregators of all layers more farther than the described aggregation node of described layer distance, and the data fusion of carrying out.
Further, the data transfer mode of described network comprises the steps: that the transducer in each described bunch gives its communication that collects described bunch aggregators; The communication of each aggregators of described bunch after data fusion in the described layer and described interlayer data fusion is to than the aggregators that comprises described bunch the nearer and adjacent layer of the described aggregation node of layer distance; Information after the described data fusion is transferred to described aggregation node at last.
Further, when the data transfer mode of described aggregation node and described cab signal transceiver comprises the steps: that described train is about to arrive described sensor network layout area, send the signal that a train arrives by first described cab signal transceiver; After described aggregation node receives described arriving signal, the data flow of preserving in the described buffer area is broadcasted; Described cab signal transceiver receives the data flow of described broadcasting; Last described cab signal transceiver sends the signal that a train leaves; Described aggregation node receive described leave signal after, the described data flow of going off the air.
Further, described spatial coherence is the correlation between the data that collect at one time of different transducers, and described temporal correlation is the correlation of same transducer between the data that different sampling stages collects.
Further, realize transfer of data by Zigbee communication mode or UWB communication mode or Bluetooth communication mode between the described sensor node and between described aggregation node and the described cab signal transceiver.
Further, the reconstruct of described data flow is comprised the steps: that it receives the time difference of broadcast data stream according to the position calculation of described cab signal transceiver; Obtain not overlapped part in the data that described cab signal transceiver receives according to the described time difference; Obtain complete data flow according to described not overlapped data reconstruction.
Further, described train runing parameters refers to the length of train and speed of service etc.
Beneficial effect: the present invention adopts the high ferro train to assist collection away from the monitoring structural health conditions data in the bridge in city or tunnel, avoided the multi-hop transmission of long distance, energy consumption and the time delay of transmission have been reduced, simultaneously need to not arrange on the way via node and base station, its cost is relatively cheap; By the data fusion method of using roundness mess wireless sensor network to be carried out homalographic sub-clustering and sub-clustering, guaranteed the load balancing of whole network, and reduced the number of times of the transfer of data in the network, reached the balance of effectiveness of information and redundancy, reduce the energy consumption of wireless sensor network in transmission, prolonged the life-span of wireless sensor network; Utilize the temporal correlation of sensor node image data, missing data in the communication process and transmitting data stream are reconstructed, guaranteed the reliability of whole data gathering system.
Description of drawings
Fig. 1 is the system schematic of preferred embodiment of the present invention;
Fig. 2 is the flow chart of method of data capture of the present invention;
Fig. 3 is the schematic diagram of cluster-dividing method of the roundness mess of preferred embodiment of the present invention;
Fig. 4 is the data flow restructuring procedure schematic diagram of preferred embodiment of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand these embodiment only is used for explanation the present invention and is not used in and limits the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the modification of the various equivalent form of values of the present invention.
In preferred embodiments of the present invention, the quantity of the transducer that at first determined scope that wireless sensor network covers, comprises, the transmission range R of transducer; Then adopt circular grid that network is carried out sub-clustering, obtain m take the aggregation node of this network as the center of circle, width is the layer of the annulus of r, and then obtain area and be π r
2Fan-shaped bunch; Select the nearest sensor node in the arcuate midway point position of inner circle of each intra-cluster distance bunch as the aggregators of this bunch, wherein, near aggregation node bunch aggregators be aggregation node; By data fusion in the layer and interlayer data fusion, finish data fusion to this network according to spatial coherence, the information after the fusion is stored in the buffer area of aggregation node in chronological order; Determine the position of quantity and the layout of vehicle-mounted signal transceiver on the high ferro train, when train through wireless sensor network arrange regional the time, aggregation node sends to train with the data flow of preserving; Train is reconstructed data flow and obliterated data according to the data that the cab signal transceiver receives, and carries out secondary according to temporal correlation and merges; At last, train with the data upload data center of merging, is finished the task of Data Collection during through base station or station.
Specifically introduce below in conjunction with accompanying drawing.
As shown in Figure 1, sensor network is arranged in the data that are used for gathering monitoring structural health conditions on bridge or the tunnel in the present embodiment, and sensor node being distributed in the border circular areas at random is positioned at home position as the sensor node of aggregation node.Source node can directly be transferred to aggregation node with information by a mode of jumping, and also can communication be arrived aggregation node by the mode of multi-hop.Set aggregation node and have enough buffering areas, when the high ferro train through out-of-date, the data flow of preserving in the buffering area is sent to cab signal transceiver on the train.Based on the step of this radio sensor network data collection method of high ferro train as shown in Figure 2, for:
Step 101 is determined distribution situation and the parameter of network.
At first, determine the number of sensors that comprises in scope that whole wireless sensor network covers, the current network and the transmission range of transducer.
In this example, the zone that wireless network is covered is set as border circular areas, and the number of sensors that comprises is N, and the transmission range of each transducer is R.
Step 102 is carried out sub-clustering to whole network.
Come whole network is carried out sub-clustering according to scope and number of sensors that the wireless sensor network that obtains in the step 101 covers, guarantee that the area of each bunch equates, and guarantee that the transducer that is in cluster can communication within a jumping.
Adopt in this example the method for roundness mess to come whole border circular areas is carried out sub-clustering.At first, take aggregation node as the center of circle, whole zone is divided into m donut, and so that the width of each annulus is r, width
The inner sensor node (being source node) of the 1st annulus (namely near the annulus of aggregation node) is jumped through 1 and can be reached aggregation node, the inner sensor node of the 2nd annulus (i.e. the annulus of the cylindrical adjacency of the 1st annulus) is jumped through 2 and can be reached aggregation node, sensor node in m annulus is jumped through m can reach aggregation node, between 2 simultaneously adjacent annulus all is 1 to jump and can reach.Different according to the jumping figure that reaches aggregation node, we with annulus be numbered respectively 1,2 ..., m, and be called wireless sensor network the layer 1,2 ..., m.In the wireless sensor network of the circular grid sub-clustering of Fig. 3, m=5.
For layer j, i.e. j annulus (j=1,2, m), it is fan-shaped that we are divided into it 2j-1 isogonism further, as shown in Figure 3, after dividing, layer 1 consists of by bunches 11, and layer 2 consists of by bunches 21,22,23, layer 3 by bunches 31,32 ..., 35 consist of, layer 4 by bunches 41,42 ..., 47 consist of, layer 5 by bunches 51,52 ..., 59 consist of.For the situation of j＞5, by that analogy.Can find out that the area of these bunches equates, all is A
r=π r
2Like this, through comprise in the network after division bunch add up to m
2(that is: 1+3+ ... + 2m-1).Because all transducers all are random distribution, the number of sensors that comprises of each bunch is essentially identical so, has guaranteed like this load balancing of whole network.
Step 103 is chosen aggregators in each bunch.
According to the sub-clustering result who obtains in the step 102, in each bunch, select a sensor node as aggregators, in this example, choose in each bunch (fan-shaped) apart from the aggregators of the nearest sensor node in the arcuate midway point position of its inner circle as this bunch, the sensor node of (being within bunches 11 among Fig. 3) will directly be chosen aggregation node as aggregators within aggregation node 1 jumping.
Step 104 transfers data to aggregation node by aggregators.
According to the aggregators of each bunch that obtains in the step 103, sensor nodes all in each bunch carry out data fusion for the aggregators of this bunch its communication that collects, i.e. data fusion in the layer.The sensor node of (being within bunches 11 among Fig. 3) was directly passed to aggregation node with information within aggregation node 1 was jumped.
According to the place layer of the aggregators distance relation apart from aggregation node, with from determine the transmission sequence between the aggregators as far as near mode.Each layer represents a fusion rank in the present embodiment, and the aggregators of every one deck all will wait outer field aggregators to transfer data to after it, merges, and then data is passed to the aggregators of nexine.That is: the aggregators of the layer far away apart from aggregation node is given the aggregators of the layer nearer apart from aggregation node the communication of finishing data fusion, and, for each layer, only have when its aggregators and receive all information than the aggregators of its layer farther apart from aggregation node, and after having carried out maximization and merging, could allow its aggregators transfer data to than it apart from aggregation node nearer layer aggregators.It is the interlayer data fusion that aggregators receives all data fusion of carrying out than the information of the aggregators of layer layer farther apart from aggregation node at its place.
All information all is transferred to aggregation node at last, aggregation node merged according to spatial coherence according to the rise time of these information, the information that generates is at one time all merged, then be kept in the buffer area of aggregation node according to time sequencing, form the data flow that continues.
Step 105 is determined the deployment scenarios of vehicle-mounted signal transceiver on the train.
In this example, the length of setting train is L, and train speed by these bridges and tunnel the time is constant v, arranges altogether ON TRAINS n+2 cab signal transceiver (AP
0, AP
1..., AP
(n+1)) come receive data, wherein AP
0And AP
1Be arranged in the same position of train head, AP
(n+1)Then be arranged in the tailstock of train, other AP evenly distributes along train.
Step 106 has judged whether that train is through the sensor network disposition zone.
According to the deployment scenarios of the cab signal transceiver that obtains in the step 105, when train soon arrives the bridge that is furnished with sensor network or tunnel (train also has vehicle-mounted GPS equipment to judge according to electronic chart), be positioned at the AP of headstock
0The go on the air signal of " start (beginning) ".Aggregation node receives " start " signal, and judged result is "Yes", then enters step 121; Aggregation node does not receive " start " signal, and judged result is "No", then enters step 111.
Step 111, aggregation node continues the data that the receiving sensor node gathers, and enters step 106.
Step 121, aggregation node sends to train with the data flow of preserving.
Aggregation node is broadcasted the data flow of preserving in the buffer area, works as AP
1To AP
nWhen passing through the transmission range of aggregation node, will receive the data flow of this part.AP
(n+1)Be positioned at the signal of the tailstock broadcasting one " end (end) " of train, go off the air when aggregation node receives the signal of this " end ", communicating by letter between train and the aggregation node stops.
Step 122 is reconstructed the obliterated data in the transmission course.
In this example, setting only has AP
iThere is missing values in the data that gather, and AP
iTotal total m neighbor node, AP
1..., AP
mAccording to multiple linear regression model, for t constantly arbitrarily, have
y
it＝β
0+β
1x
1t+β
2x
2t+…+β
mx
mt+μ
t
Wherein, y
ItExpression node AP
iAt t perception data constantly; x
Kt, k={1,2 ..., m} represents node AP
iNeighbor node at t perception data constantly; β
kExpression is corresponding to x
KtPartial correlation coefficient; μ
tThe expression stochastic error, and obey distribution N (0, σ
2).
Choose h (h-m 〉=2) group AP
iWith the historical data that its neighbor node all successfully receives, AP
iThe historical data that success receives is matrix Y, and the historical data that neighbor node successfully receives is matrix X, parameter beta
kEstimator
The matrix that forms is
Missing values y
ItBe estimated as
Step 123, train flows to line reconstruction and finishes data fusion data.
In this example, the position that AP arranges on the train is different, and it is also different that they enter and leave time of aggregation node transmission range, and what each AP was received like this is the part of whole segment data stream.According to deployment scenarios and the train runing parameters of the cab signal transceiver that obtains in the step 105, the time difference that can calculate between the data flow that adjacent two AP receive is t
a=L/nv, as shown in Figure 4.Choose the not overlapped part in front (being the dash area of every one piece of data among Fig. 4) for the data (wherein missing data is reconstructed according to step 122) that each AP receives, then it is combined and to obtain complete data flow.Then train carries out data fusion according to temporal correlation again.
Step 124, train are finished data upload during through base station or station, and the final data center obtains required monitoring structural health conditions data.
This example has so far just been finished final wireless sensor network data and has been collected, compare the method for other Data Collections, one aspect of the present invention by the sub-clustering equilibrium energy consumption, prolonged network useful life, combine on the other hand and utilize the high ferro train to serve as mobile actuator, avoided the multi-hop transmission of data, reduced the quantity of via node and base station, reduced energy consumption, saved system cost, adopt simultaneously multiple linear regression model to obliterated data reconstruct, strengthened the reliability of whole data gathering system.
Claims (10)
1. the radio sensor network data collection method based on the high ferro train is characterized in that, may further comprise the steps:
Sensor node is arranged on the bridge or tunnel away from the city, is used for gathering the monitoring structural health conditions data of these buildings;
Determine the quantity of scope that wireless sensor network covers, transducer that described network comprises, the transmission range R of described transducer;
To described network cluster dividing, in each described bunch, select a sensor node as described bunch aggregators;
Determine the data fusion mode of data fusion mode, data transfer mode and the aggregation node of described network;
The data fusion mode of described aggregation node comprises the steps: that each described information comprises the frame of its rise time of record; Described aggregation node merged according to the rise time of described information, and the information that the same time is generated merges according to spatial coherence; Information after the described data fusion is stored in the buffer area of described aggregation node in chronological order, forms the data flow that continues;
Determine position, train runing parameters that the quantity of vehicle-mounted signal transceiver on the train, described cab signal transceiver are arranged;
Determine the data transfer mode of described aggregation node and described cab signal transceiver;
Adopt multiple linear regression model that missing data in the broadcasting process is reconstructed;
The data that receive according to described cab signal transceiver are reconstructed described data flow, then carry out data fusion according to temporal correlation;
Described train during through base station or station with the data upload of described fusion to data center, finish Data Collection.
2. the radio sensor network data collection method based on the high ferro train as claimed in claim 1, wherein said network cluster dividing comprises the steps: that aggregation node take described network is as the center of circle, with several concentric circless described network is divided into m layer, described layer is the annulus that width is r, described width
Each described layer is divided at least one bunch, and described bunch is fan-shaped, and described bunch area is π r
2
3. the radio sensor network data collection method based on the high ferro train as claimed in claim 1, wherein said bunch aggregators is the nearest sensor node in arcuate midway point position of the inner circle of described bunch of described intra-cluster distance.
4. the radio sensor network data collection method based on the high ferro train as claimed in claim 1, described bunch the aggregators that wherein is in described wireless sensor network bosom is described aggregation node.
5. the radio sensor network data collection method based on the high ferro train as claimed in claim 1, the data fusion mode of wherein said network comprises the steps: a layer interior data fusion, each aggregators of described bunch that the interior data fusion of described layer is described layer receives the information that all the sensors in described bunch collects, and the data fusion of carrying out; Interlayer data fusion, described interlayer data fusion are the information that the aggregators of described layer receives the aggregators of all layers more farther than the described aggregation node of described layer distance, and the data fusion of carrying out.
6. the radio sensor network data collection method based on the high ferro train as claimed in claim 5, the data transfer mode of wherein said network comprise the steps: that transducer in each described bunch is with the aggregators of its communication that collects to described bunch; The communication of each aggregators of described bunch after data fusion in the described layer and described interlayer data fusion is to than the aggregators that comprises described bunch the nearer and adjacent layer of the described aggregation node of layer distance; Information after the described data fusion is transferred to described aggregation node at last.
7. the radio sensor network data collection method based on the high ferro train as claimed in claim 1, when the data transfer mode of wherein said aggregation node and described cab signal transceiver comprises the steps: that described train is about to arrive described sensor network layout area, send the signal that a train arrives by first described cab signal transceiver; After described aggregation node receives described arriving signal, the data flow of preserving in the described buffer area is broadcasted; Described cab signal transceiver receives the data flow of described broadcasting; Last described cab signal transceiver sends the signal that a train leaves; Described aggregation node receive described leave signal after, the described data flow of going off the air.
8. the radio sensor network data collection method based on the high ferro train as claimed in claim 1, wherein said spatial coherence is the correlation between the data that collect at one time of different transducers, and described temporal correlation is the correlation of same transducer between the data that different sampling stages collects.
9. the radio sensor network data collection method based on the high ferro train as claimed in claim 1 is realized transfer of data by Zigbee communication mode or UWB communication mode or Bluetooth communication mode between the wherein said sensor node and between described aggregation node and the described cab signal transceiver.
10. the radio sensor network data collection method based on the high ferro train as claimed in claim 1 wherein comprises the steps: that to the reconstruct of described data flow it receives the time difference of broadcast data stream according to the position calculation of described cab signal transceiver; Obtain not overlapped part in the data that described cab signal transceiver receives according to the described time difference; Obtain complete data flow according to described not overlapped data reconstruction.
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| CN107094288B (en) * | 2017-04-24 | 2019-11-05 | 兰州交通大学 | Train locating method based on clustering wireless sensor network network under major long tunnel environment |
| CN108197374A (en) * | 2017-12-28 | 2018-06-22 | 成都英智达科技有限公司 | Track bed structural hidden danger automatic monitoring method and its monitoring system |
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| CN113223299A (en) * | 2021-04-23 | 2021-08-06 | 迈锐数据（北京）有限公司 | Geomagnetic detection equipment and geomagnetic detection system capable of constructing traffic structured database |
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