CN106990422A - A kind of automatic depth measurement in unmanned boat ocean and monitoring system - Google Patents
A kind of automatic depth measurement in unmanned boat ocean and monitoring system Download PDFInfo
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- CN106990422A CN106990422A CN201710339113.8A CN201710339113A CN106990422A CN 106990422 A CN106990422 A CN 106990422A CN 201710339113 A CN201710339113 A CN 201710339113A CN 106990422 A CN106990422 A CN 106990422A
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- unmanned boat
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- 238000005259 measurement Methods 0.000 title claims abstract description 33
- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 34
- 238000004891 communication Methods 0.000 claims abstract description 30
- 230000002093 peripheral effect Effects 0.000 claims abstract description 7
- 230000010354 integration Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012805 post-processing Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/26—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring depth
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a kind of automatic depth measurement in unmanned boat ocean and monitoring system, include the control device of unmanned boat and peripheral hardware, the unmanned boat includes GNSS sounding instruments, radio communication module and network communication module；GNSS sounding instruments are used to obtain unmanned boat positional information, and for obtaining the depth of water/gradation data to ocean progress depth measurement in unmanned foot；Radio communication module sends unmanned boat positional information, the depth of water/gradation data by radio station mode, and network communication module sends unmanned boat positional information, the depth of water/gradation data to cloud server by way of wireless network；GNSS control devices, for receiving after the unmanned boat positional information sent from radio communication module, the depth of water/gradation data and showing on a display screen, and unmanned boat driving configuration information is obtained, send configuration parameter obtains the depth of water/gradation data to unmanned boat, and from cloud server.The present invention has many advantages, such as that automaticity is high, feature-rich, Integrated Solution is excellent.
Description
Technical field
The present invention relates to survey field, more particularly to a kind of automatic depth measurement in unmanned boat ocean and monitoring system.
Background technology
At present, more than oceanic sounding by the way of artificial depth measurement, by depth measurement instrument configuration on the ship of pilot steering it is real
Ground is sampled, and operation inconvenience, automaticity is low；With the gradually development of unmanned boat, Ye You manufacturers use unmanned boat-carrying sounding instrument
Water-depth measurement is carried out, but data need to carry out post-processing, it is impossible to monitored in real time.This patent proposes a kind of unmanned boat sea
Foreign automatic depth measurement and monitoring system, collect the technologies such as embedded, ship control, self-navigation, depth measurement, cloud, improve oceanic sounding effect
Rate, reduces human cost, improves automated job level, strengthens real-time property.
The content of the invention
The automatic depth measurement in unmanned boat ocean that the present invention is provided and monitoring system are by ship power system, high-precision GNSS system
System, water depth measuring system, Cloud Server, data transmission system, PC survey stations carry out depth integration, realize automatic Pilot, the depth of water
Collection, the in real time function such as monitoring, playback, hydrology greyscale plot, it is many that whole system has automaticity high, feature-rich etc.
Advantage.
Concrete scheme is as follows：
1st, a kind of automatic depth measurement in unmanned boat ocean and monitoring system, it is characterised in that the GNSS including unmanned boat and peripheral hardware
Control device, the unmanned boat includes GNSS sounding instruments, radio communication module and network communication module；
GNSS sounding instruments are used to obtain unmanned boat positional information, and be used in unmanned foot carrying out ocean depth measurement with
Obtain the depth of water/gradation data；
Radio communication module sends unmanned boat positional information, the depth of water/gradation data by radio station mode,
Network communication module sends unmanned boat positional information, the depth of water/gradation data to high in the clouds by way of wireless network
Server；
GNSS control devices, for receiving the unmanned boat positional information sent from radio communication module, the depth of water/gray scale
After data and show on a display screen, and obtain unmanned boat drive configuration information, send configuration parameter to unmanned boat, Yi Jicong
Cloud server obtains the depth of water/gradation data.
The above-mentioned automatic depth measurement in unmanned boat ocean and monitoring system, wherein, the network communication module includes WiFi module
And/or 3G communication modules.
The above-mentioned automatic depth measurement in unmanned boat ocean and monitoring system, wherein, the GNSS control devices of peripheral hardware include movement eventually
End and PC terminals；
Mobile terminal is used for send configuration parameter to unmanned boat, and configuration parameter includes navigation data；
PC terminals obtain the depth of water/gradation data from cloud server, and store to local.
The above-mentioned automatic depth measurement in unmanned boat ocean and monitoring system, wherein, the unmanned boat also includes camera, for adopting
Collect the video data of cruise, and the video data transmitting of cruise is delivered to by mobile terminal by network communication module.
The above-mentioned automatic depth measurement in unmanned boat ocean and monitoring system, wherein, GNSS sounding instruments are also supported from radio station and network
Differential data is received to carry out accurate Differential positioning and precise position information is provided.
The automatic depth measurement in this unmanned boat ocean and monitoring system control automatic Pilot, depth measurement, positioning and center, data transfer
(radio station, cloud service), data processing and monitoring, equipment control etc. carry out depth integration, realize marine automatic navigation, positioning,
Automatic depth measurement, the depth of water and ship a variety of functions such as monitoring and post-processing in real time, whole system have that automaticity is high, function
Abundant, the excellent plurality of advantages of Integrated Solution.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
A kind of automatic depth measurement in unmanned boat ocean and the schematic diagram of monitoring system that Fig. 1 provides for the present invention.
Embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And, it is obvious to the skilled person that the present invention can be able to without one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, do not enter for some technical characteristics well known in the art
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explain technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
The invention provides the GNSS controls of a kind of automatic depth measurement in unmanned boat ocean and monitoring system, including unmanned boat and peripheral hardware
Control equipment, the unmanned boat includes GNSS sounding instruments, radio communication module and network communication module；
GNSS sounding instruments 4 are used to obtain unmanned boat positional information, and are used in unmanned foot to ocean progress depth measurement
To obtain the depth of water/gradation data；
Radio communication module 1 sends unmanned boat positional information, the depth of water/gradation data by radio station mode,
Network communication module sends unmanned boat positional information, the depth of water/gradation data to high in the clouds by way of wireless network
Server 7；
GNSS control devices 6 are used to receive the unmanned boat positional information sent from radio communication module, the depth of water/ash
After degrees of data and it is shown on display screen and facilitates user to watch, and obtain unmanned boat and drives configuration information, send configuration parameter
The depth of water/gradation data is obtained to unmanned boat, and from cloud server.
In an optional embodiment of the invention, the network communication module includes WiFi module 3 and/or 3G communication modules
2。
In an optional embodiment of the invention, the GNSS control devices of peripheral hardware include mobile terminal and PC terminals；It is mobile
Terminal is used for send configuration parameter to unmanned boat, and configuration parameter includes navigation data；PC terminals from cloud server obtain the depth of water/
Gradation data, and store to local.Further alternative, mobile terminal is smart mobile phone or PDA.
In an optional embodiment of the invention, the unmanned boat also includes camera 5, the video counts for gathering cruise
According to, and the video data transmitting of cruise is delivered to by mobile terminal by network communication module.
In an optional embodiment of the invention, GNSS sounding instruments also support that receiving differential data from radio station and network is carried out
Accurate Differential positioning simultaneously provides precise position information.
The system uses the unmanned boat control system based on inertial navigation Yu RTK-GNSS integrated navigations, reaches high accuracy certainly
Dynamic navigation, the track that can be specified according to user is navigated by water automatically with speed.
Optionally, the system uses the sounding device D230 of Shanghai Hua Ce airmanships limited company, can be accurate
Depth measurement is carried out to ocean, and communications protocol is set up with GNSS device, by gradation data, water depth value, configuration data of collection etc.
Much information is sent to GNSS device in real time, is parsed for GNSS device.
Optionally, the system uses the GNSS device I70 of Shanghai Hua Ce airmanships limited company, can pass through net
Network carries out accurate Differential positioning, and accurate positional information is provided to ship, while being realized and sounding device by changing firmware
D230 depth connection, can be configured to the parameter of sounding instrument, obtain configuration information, the depth of water/gradation data acquisition process；
A variety of functions such as data, the depth of water/gradation data storage, wifi multifunctional equipment control/configurations are sent to Cloud Server.
Optionally, the system uses the broadcasting station equipment DL7 of Shanghai Hua Ce airmanships limited company, can be with GNSS
Equipment is attached, and GNSS device acquisition differential data or GNSS device is sent the position+depth of water/gray scale to the outside by it
Data.
Optionally, position+bathymetric data is sent to Cloud Server, Cloud Server by the system using GNSS device by 3G
Data, equipment control service are provided, PC is by verifying that connection obtains position+bathymetric data.
Optionally, the system is using two data processing softwares, and one is used for obtaining position+depth of water number from server in real time
It is believed that breath, then in real time by main information (vessel position, course, the depth of water) in real time show, be easy to user monitor in real time with
Obtain information；Another software is used for carrying out later stage parsing to the gradation data that GNSS device is stored, and is easy to user to review.
The present invention, by connecting the WIFI of GNSS device, can carry out GNSS device and survey from a regular handset
The parameter of deep equipment, configuration are set, and user can carry out rational configuration according to demand.
The automatic depth measurement in this unmanned boat ocean and monitoring system control automatic Pilot, depth measurement, positioning and center, data transfer
(radio station, cloud service), data processing and monitoring, equipment control etc. carry out depth integration, realize marine automatic navigation, positioning,
Automatic depth measurement, the depth of water and ship a variety of functions such as monitoring and post-processing in real time, whole system have that automaticity is high, function
Abundant, the excellent plurality of advantages of Integrated Solution.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and techniques content make many possible variations and modification to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this has no effect on the substantive content of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit of the present invention still falls within the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of technical scheme protection.
Claims (5)
1. a kind of automatic depth measurement in unmanned boat ocean and monitoring system, it is characterised in that the GNSS controls including unmanned boat and peripheral hardware
Equipment, the unmanned boat includes GNSS sounding instruments, radio communication module and network communication module；
GNSS sounding instruments are used to obtain unmanned boat positional information, and for being obtained to ocean progress depth measurement in unmanned foot
The depth of water/gradation data；
Radio communication module sends unmanned boat positional information, the depth of water/gradation data by radio station mode,
Network communication module sends unmanned boat positional information, the depth of water/gradation data to cloud service by way of wireless network
Device；
GNSS control devices, for receiving the unmanned boat positional information sent from radio communication module, the depth of water/gradation data
Afterwards and show on a display screen, and obtain unmanned boat and drive configuration information, send configuration parameter is to unmanned boat, and from high in the clouds
Server obtains the depth of water/gradation data.
2. the automatic depth measurement in unmanned boat ocean as claimed in claim 1 and monitoring system, it is characterised in that the network communication mould
Block includes WiFi module and/or 3G communication modules.
3. the automatic depth measurement in unmanned boat ocean as claimed in claim 1 and monitoring system, it is characterised in that the GNSS controls of peripheral hardware
Equipment includes mobile terminal and PC terminals；
Mobile terminal is used for send configuration parameter to unmanned boat, and configuration parameter includes navigation data；
PC terminals obtain the depth of water/gradation data from cloud server, and store to local.
4. the automatic depth measurement in unmanned boat ocean as claimed in claim 3 and monitoring system, it is characterised in that the unmanned boat is also wrapped
Camera is included, for gathering the video data of cruise, and the video data transmitting of cruise is delivered to by movement by network communication module
Terminal.
5. the automatic depth measurement in unmanned boat ocean as claimed in claim 1 and monitoring system, it is characterised in that GNSS sounding instruments are also propped up
Hold and receive the accurate Differential positioning of differential data progress from radio station and network and precise position information is provided.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710339113.8A CN106990422A (en) | 2017-05-15 | 2017-05-15 | A kind of automatic depth measurement in unmanned boat ocean and monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710339113.8A CN106990422A (en) | 2017-05-15 | 2017-05-15 | A kind of automatic depth measurement in unmanned boat ocean and monitoring system |
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| CN106990422A true CN106990422A (en) | 2017-07-28 |
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| CN201710339113.8A Pending CN106990422A (en) | 2017-05-15 | 2017-05-15 | A kind of automatic depth measurement in unmanned boat ocean and monitoring system |
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Cited By (3)
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| CN107807607A (en) * | 2017-12-06 | 2018-03-16 | 中国船舶重工集团公司第七0四研究所 | Unmanned boat wireless remote control electric propulsion system and its means of communication |
| CN109991669A (en) * | 2019-04-11 | 2019-07-09 | 河海大学 | A kind of underwater magnetic method detection system of unmanned boat towing |
| CN115451919A (en) * | 2022-09-28 | 2022-12-09 | 安徽理工大学 | Intelligent unmanned surveying and mapping device and method |
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Cited By (5)
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| CN115451919A (en) * | 2022-09-28 | 2022-12-09 | 安徽理工大学 | Intelligent unmanned surveying and mapping device and method |
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