CN107064978A - First aid helicopter navigation positioning system and its navigation locating method based on the Big Dipper - Google Patents
First aid helicopter navigation positioning system and its navigation locating method based on the Big Dipper Download PDFInfo
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- CN107064978A CN107064978A CN201710304658.5A CN201710304658A CN107064978A CN 107064978 A CN107064978 A CN 107064978A CN 201710304658 A CN201710304658 A CN 201710304658A CN 107064978 A CN107064978 A CN 107064978A
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- helicopter
- big dipper
- aid
- patient
- navigation
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Classifications
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- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
Abstract
The present invention discloses a kind of first aid helicopter navigation positioning system and its navigation locating method based on the Big Dipper, utilize the high accuracy navigation and the communication of two-way short message of the Big Dipper, it is aided with GIS map vectors technology and image processing techniques, realize first aid helicopter fast searching landing place, optimal route is planned, navigation, it is long-range to monitor the functions such as patient vitals' index.The present invention is understood the situation of patient, makes arrangements for surgery in advance, greatly improve the success rate of rescue for critical illness patient and accident severely injured people in terms of the gold rescue time of preciousness, Ye Nengshi hospitals can be won using helicopter first aid.
Description
Technical field
The invention belongs to the intelligent emergency treatment technique of helicopter, and in particular to a kind of first aid helicopter navigator fix based on the Big Dipper
System and its navigation locating method.
Background technology
Aviation medical aid was born in Germany in 1970, was that doctor directly takes helicopter and flown to the one kind of patient at one's side
First aid mode.Medical aid helicopter has quick, efficient, mobility strong, not by traffic jam, road compared with traditional ambulance
The advantage of the fortuitous event influence such as road landslide.And the air rescue start-up time evening of China, slower development, it is difficult to meet current state
Interior air rescue demand.Due to system imperfection, the reasons such as stopping point difficulty are found, helicopter rescue is never general
And, how to build complete set and effective helicopter first aid intelligence system is still a urgent problem to be solved.
The content of the invention
Goal of the invention：It is an object of the invention to solve the deficiencies in the prior art there is provided a kind of based on the Big Dipper
First aid helicopter navigation positioning system and its navigation locating method, realize first aid helicopter fast searching landing place, optimal road
Line gauge is drawn, navigation, and the remotely function such as monitoring patient vitals' index.
Technical scheme：A kind of first aid helicopter navigation positioning system based on the Big Dipper of the present invention, including it is big-dipper satellite, straight
Airborne end and ground surface end on the machine of liter, the airborne end includes main control chip, Beidou subscriber machine and vital signs monitors, master control
Chip is interconnected with vital signs monitors and bluetooth communication respectively, the other end and the Big Dipper user of bluetooth communication
Machine is connected；The ground surface end includes ground monitoring terminal, the two ends of ground monitoring terminal respectively with human-computer interaction interface and the Big Dipper
Commander's machine is connected；The big-dipper satellite commands machine phase with Beidou subscriber machine and the Big Dipper respectively by Big Dipper short message communication respectively
Mutually communication.
Further, SD storage cards and display screen are additionally provided with the airborne end, SD storage cards are backed up in realtime main control chip
The helicopter flight information of acquisition and raw sign data, main control chip control by Big Dipper user profile and raw body levy data display in
Display screen.
Further, the display screen uses TFT liquid crystal displays, and the main control chip uses the embedded places of STM32F103RBT
Manage device.
The invention also discloses a kind of navigation locating method of the first aid helicopter navigation positioning system based on the Big Dipper, including
Following steps：
(1) the seriously ill patient site of danger is obtained；
(2) ground monitoring terminal searches the land place nearest from patient；
(3) place of landing of ground monitoring terminal check is fed back to helicopter by ground monitoring terminal, helicopter according to
Navigation information goes to emergency place；
(4) helicopter, which is connected to after patient, implements earthward monitor terminal transmission location information and patient sign information, finally
It is sent to hospital.
Further, in the step (2), after helicopter first aid task is connected to, ground monitoring terminal is in GIS map
The connected region that area is more than 400 square metres is found on (interior to be located at ground monitoring terminal), by calling monitoring or examining on the spot
Examine around confirmation without non-removable aerial barrage thing, be set to the place after with relevant department coordinating successfully to land
The location coordinates that can land are sent to big-dipper satellite, big-dipper satellite passes through the short report of the Big Dipper again by place by Big Dipper short message communication
Text communication sends the information in the place that can land to the Beidou subscriber machine at airborne end, and its information is stored in map vector.
Further, the successful place landed is recorded the ground monitoring terminal-pair, and successful implementation is crossed into landing
Place as later prioritizing selection landing place.
Further, the detailed process of the Big Dipper short message communication is：
Beidou subscriber machine will pass through satellite after the communication application signal encryption comprising subscriber computer ID and Content of communciation first
Inbound is forwarded, ground central station (i.e. the ground central station of Beidou satellite navigation system) is received after communication application signal, through de-
It is close and add in the outbound broadcast message persistently broadcasted after re-encrypting, receive exit signal, solution through satellite broadcasting Big Dipper commander's machine
Close outbound text is reconciled, completion is once communicated；
The Content of Communication that Beidou subscriber machine is sent every time includes frame head, subscriber computer ID, message length, data type, gone straight up to
Machine location information, patient vital sign information and postamble, data type are divided into four kinds：
" 0 " is represented:Beidou subscriber machine logs off；
" 1 " represents Beidou subscriber machine and enters system；
" 2 " are represented:The position (longitude and latitude) of subscriber computer and elevation information when data are journey；
The life entity reference of the position (longitude and latitude) of subscriber computer, elevation information and patient when " 3 " represent data as backhaul
Breath, statement sign information includes pulse, breathing, blood pressure, body temperature and blood oxygen saturation information.
Further, in the step (4), the main control chip at helicopter-mounted end reads raw body by serial ports and levies prison in real time
Shield instrument surveys data, and by bluetooth module by institute's read data transmission to Beidou subscriber machine, Beidou subscriber machine is logical by short message
Interrogate to the big-dipper satellite fact report position and earthward monitor terminal send vital signs monitors survey patient data.
Further, provided with correspondence application software in the ground monitoring terminal, the application software passes through man-machine interaction circle
Face artificial judgment landing place, processing patient position information and the map vector near patient, filter out helicopter first aid most
Good landing place, and set up helicopter landing locality database.
Beneficial effect：Compared with prior art, the present invention has advantages below：
(1) present invention carries out helicopter positioning using Beidou satellite navigation system, and is carried out during helicopter flight
Whole process navigation, in whole search and rescue and return stroke, positional information contrast locating is more accurate, and quickly effectively；
(2) the supporting application software of ground surface end of the invention is for handling the vector near patient position information and patient
Figure, filters out the optimal landing place of helicopter first aid；
(3) present invention realizes the logical of helicopter and ground monitor terminal by Beidou satellite system short message function
Letter, the positional information of real-time Transmission helicopter and the vital sign information for taking patient.
Brief description of the drawings
Fig. 1 is overall system architecture block diagram of the invention；
Fig. 2 is workflow schematic diagram of the invention；
Fig. 3 is the application software block diagram of ground surface end in the present invention；
Fig. 4 unpacks flow chart for ground monitoring terminal data in the present invention.
Embodiment
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
As shown in figure 1, the first aid helicopter navigation positioning system based on the Big Dipper of the present embodiment is by airborne end and ground surface end
Two parts are constituted, and airborne end includes Beidou subscriber machine and airborne end display screen, and ground surface end includes Big Dipper commander machine, ground monitoring end
End and human-computer interaction interface (giant-screen).
Ground monitoring terminal is responsible for integrating helicopter location information and the information of GIS map vectors, chooses optimal jump area
Point, completes navigation work.Ground surface end and airborne end mutually carry out Big Dipper short message communication, and ground monitoring by big-dipper satellite
Terminal is also communicated by wide area network with other trans-regional partner users, and the real-time condition of patient site is understood immediately,
By man-machine interaction, the comprehensive decision-making opinion for drawing helicopter landing place.
At airborne end, using the short message communication function of Beidou subscriber machine, can with the positional information of real-time report helicopter,
Earthward monitor terminal sends the patient vital sign data that vital signs monitors are monitored during backhaul.
Include Big Dipper radio-frequency signal processing module (being arranged at Beidou subscriber machine) and information dissection process mould in airborne end
Block (STM32F103RBT processors), because the antenna and radio frequency baseband partial volume of Big Dipper radio-frequency signal processing module are larger,
So Big Dipper radio-frequency signal processing module is connected with Big Dipper user profile dissection process module by way of Bluetooth wireless transmission.
Information dissection process module is mainly responsible for sending the instruction of the specific Big Dipper and corresponding Big Dipper information, and (for example Beidou subscriber machine is northwards
The information that the commander's machine that struggles against is sent, Content of Communication includes frame head, subscriber computer ID, message length, data type, helicopter positioning letter
Breath, patient vital sign information and postamble etc.), the module is using the STM32F103RBT insertions based on ARM Cortex-M3
Formula processor is as main control chip, and the chip possesses the abundant Peripheral Interface such as GPIO, UART, ADC, possesses excellent real-time
Can, outstanding power consumption control many advantages, such as.Vital sign monitor information is added Beidou communication by STM32F103RBT chips
Message frame originating point information, length information and check information etc. are transferred to FDBD3111 Big Dippeves RDSS by bluetooth communication and penetrated
The modulation amplification of frequency baseband module, is finally transported on Beidou antenna and sends；Meanwhile, the chip, which can be read and parse bluetooth, to be led to
Believe the Big Dipper user profile that module is received, be finally shown on airborne end display screen (TFT liquid crystal displays).Meanwhile, helicopter fly
Row information and the vital sign information of transport patient are backed up all in SD card.
As shown in Fig. 2 the workflow of the above-mentioned first aid helicopter navigation positioning system based on the Big Dipper can be divided into three ranks
Section.First stage is to be connected to first aid task, and helicopter is set out in preparation；Second stage is that helicopter flies to patient site；The
Three stages were that helicopter carries patient's return hospital.
The main task of first stage is to find optimal landing place, optimal jump area for helicopter by application software
Point should be apart from urgent patient recently and the same day do not have it is occupied can stopping point.The main task of second stage is to urgency
Rescue helicopter and carry out whole navigation, and the real time positioning data of airborne Beidou subscriber machine (including longitude and latitude, height, meteorological is provided
Material etc.) on the one hand pass through the information dissection process module of Bluetooth transmission to airborne end；On the other hand airborne end Big Dipper user is passed through
Machine carries out secondary protocol encapsulation and Beidou communication protocol encapsulation to data, big-dipper satellite is sent to, then according to Beidou subscriber machine
Communication, levels that built-in communication card has, communication frequency, are transmitted frequency control and the control of text length, data are by north
The commander's machine that struggles against is received, and reaches ground monitoring terminal.The main task of phase III is that navigation first aid helicopter returns to hospital, and will
Helicopter location information and patient sign information (including pulse, breathing, blood pressure, body temperature and blood oxygen saturation) pass through the short report of the Big Dipper
Literary function is transmitted to ground monitor terminal, so that hospital starts the preparation for the treatment of in advance.
As shown in figure 3, being configured with respective application software in ground monitoring terminal, the major function of the application software is to find
The optimal landing place of first aid helicopter is simultaneously set up first aid helicopter and can landed locality database.
The principal element of limitation helicopter landing is site area, the place gradient and aerial barrage thing, and helicopter landing is needed
400 square metres or so of vacant lot is wanted, can not around have tall trees wood or building, with the main rotor and tail of anticollision helicopter
Oar.Secondly, the gradient in landing place is preferably no more than 3 degree of gentle hard ground.Generally, can as landing place region
There are school playground, park, building roof etc..When first aid helicopter business obtains certain development, hospital should be with other rows
Political affairs department cooperates, it is ensured that the regional in city has workable helistop.
In order to mark out all airplane parking areas on map vector, area is found on map by application software and is more than
400 square metres of connected region, by calling monitoring or on-the-spot investigation to confirm surrounding without non-removable aerial barrage thing,
The place can be set to the place that can land after coordinating successfully with relevant department, and its information is stored in map vector
In.After helicopter first aid task is connected to, the land place nearest apart from patient is found by business software, is contacted relevant
Department is confirmed after landing feasibility, and the location coordinates are sent to airborne Beidou subscriber machine.Application software will be to successfully dropping
The place fallen is recorded, and successful implementation is crossed to the place of landing as the landing place of later prioritizing selection.
As shown in figure 4, ground monitoring terminal data unpacking flow is：The Content of Communication that Beidou subscriber machine is sent every time includes
Frame head, subscriber computer ID, message length, data type, helicopter location information, patient vital sign information and postamble.According to north
Bucket subscriber computer sends whether the data that message communication agreement judges that Big Dipper commander's machine receives are effective, and circulation receives data, to connecing
The data received are judged as effectively, and handled according to the data type of reception.Data type is divided into four kinds：
" 0 " logs off for Beidou subscriber machine；
" 1 " is that Beidou subscriber machine enters system；
" 2 " are position (longitude and latitude) and the elevation information of subscriber computer when data are journey；
" 3 " are the vital sign information of position (longitude and latitude), elevation information and the patient of subscriber computer when data are backhaul
(including pulse, breathing, blood pressure, body temperature and blood oxygen saturation).
Can the above understand, the present invention using the Big Dipper high accuracy navigation and two-way short message communication, be aided with GIS vectors
Cartographic Technique and image processing techniques, realize first aid helicopter fast searching landing place, and optimal route planning is navigated, remotely
The functions such as patient vitals' index are monitored, the problem of rescue helicopters landing place is difficult to determine is solved significantly, makes helicopter medical treatment
Industry more systematization and intellectuality is given first aid to, expands the application of helicopter first aid.
For critical illness patient and accident severely injured people, the gold that can win preciousness using helicopter first aid is rescued
Help the time, the situation of patient is understood in terms of Ye Nengshi hospitals, is made arrangements for surgery in advance, is greatly improved the success rate of rescue, use north
Bucket satellite navigation system enhances the confidentiality of medical industry, improves the overall first aid level of China.
Claims (9)
1. a kind of first aid helicopter navigation positioning system based on the Big Dipper, it is characterised in that：Including on big-dipper satellite, helicopter
Airborne end and ground surface end, the airborne end include main control chip, Beidou subscriber machine and vital signs monitors, main control chip difference
It is interconnected with vital signs monitors and bluetooth communication, the other end of bluetooth communication is connected with Beidou subscriber machine；
The ground surface end includes ground monitoring terminal, and machine phase is commanded in the two ends of ground monitoring terminal with human-computer interaction interface and the Big Dipper respectively
Connection；The big-dipper satellite commands machine mutually to communicate with Beidou subscriber machine and the Big Dipper respectively by Big Dipper short message communication respectively.
2. the first aid helicopter navigation positioning system according to claim 1 based on the Big Dipper, it is characterised in that：It is described airborne
It is additionally provided with SD storage cards and display screen in end, SD storage cards are backed up in realtime the helicopter flight information and raw body of main control chip acquisition
Data are levied, Big Dipper user profile and raw body are levied data display in display screen by main control chip control.
3. the first aid helicopter navigation positioning system according to claim 2 based on the Big Dipper, it is characterised in that：The display
Screen uses TFT liquid crystal displays, and the main control chip uses STM32F103RBT embeded processors.
4. a kind of first aid helicopter navigation positioning system based on the Big Dipper based on described in claims 1 to 3 any one is led
Navigate localization method, it is characterised in that：Comprise the following steps：
(1) seriously ill patient site of endangering is obtained by Beidou subscriber machine；
(2) ground monitoring terminal searches the land place nearest from patient；
(3) place of landing of ground monitoring terminal check is fed back to helicopter by ground monitoring terminal, and helicopter is according to navigation
Information goes to emergency place；
(4) helicopter, which is connected to after patient, implements earthward monitor terminal transmission location information and patient sign information, is finally sent to
Hospital.
5. the navigation locating method of the first aid helicopter navigation positioning system according to claim 4 based on the Big Dipper, it is special
Levy and be：In the step (2), after helicopter first aid task is connected to, it is big that ground monitoring terminal finds area in GIS map
In 400 square metres of connected region, by calling monitoring or on-the-spot investigation to confirm surrounding without non-removable aerial barrage
Thing, the place that can land is set to after coordinating successfully with relevant department by the place, and the location coordinates that can land are passed through into the Big Dipper
Short message communication is sent to big-dipper satellite, and big-dipper satellite is again sent the information in the place that can land to machine by Big Dipper short message communication
The Beidou subscriber machine at end is carried, and its information is stored in map vector.
6. the navigation locating method of the first aid helicopter navigation positioning system according to claim 5 based on the Big Dipper, it is special
Levy and be：The ground monitoring terminal-pair place landed that succeeds is recorded, successful implementation is crossed the place of landing as
The landing place of later prioritizing selection.
7. the navigation locating method of the first aid helicopter navigation positioning system according to claim 5 based on the Big Dipper, it is special
Levy and be：The detailed process of the Big Dipper short message communication is：
Beidou subscriber machine will be forwarded after the communication application signal encryption comprising subscriber computer ID and Content of communciation by satellite first
Inbound, ground central station is received after communication application signal, and the outbound broadcast electricity persistently broadcasted is added through DecryptDecryption and after re-encrypting
Wen Zhong, exit signal is received through satellite broadcasting Big Dipper commander's machine, and the outbound text of demodulation decryption, completion is once communicated；
It is fixed that the Content of Communication that Beidou subscriber machine is sent every time includes frame head, subscriber computer ID, message length, data type, helicopter
Position information, patient vital sign information and postamble, data type are divided into four kinds：
" 0 " is represented:Beidou subscriber machine logs off；
" 1 " represents Beidou subscriber machine and enters system；
" 2 " are represented:The position of subscriber computer and elevation information when data are journey；
The vital sign information of the position of subscriber computer, elevation information and patient when " 3 " represent data as backhaul, statement sign letter
Breath includes pulse, breathing, blood pressure, body temperature and blood oxygen saturation information.
8. the navigation locating method of the first aid helicopter navigation positioning system according to claim 4 based on the Big Dipper, it is special
Levy and be：In step (4), the main control chip at helicopter-mounted end reads raw physical sign monitor by serial ports and surveys data in real time,
And by bluetooth module by institute's read data transmission to Beidou subscriber machine, Beidou subscriber machine is communicated to big-dipper satellite thing by short message
Position is reported in fact and earthward monitor terminal transmission vital signs monitors survey patient data.
9. the navigation locating method of the first aid helicopter navigation positioning system according to claim 4 based on the Big Dipper, it is special
Levy and be：Provided with correspondence application software in the ground monitoring terminal, the application software passes through human-computer interaction interface artificial judgment
Land place, processing patient position information and the map vector near patient, filters out the optimal landing place of helicopter first aid,
And set up helicopter landing locality database.
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| CN108281175A (en) * | 2018-03-02 | 2018-07-13 | 中南大学湘雅医院 | Medical aid system information based on triones navigation system services total platform |
| CN108322252A (en) * | 2018-04-08 | 2018-07-24 | 董亮 | First aid information connected system based on Big Dipper short message communication |
| CN108494468A (en) * | 2018-01-30 | 2018-09-04 | 中华物联网股份有限公司 | Equipment monitoring system and its method with satellite short message communication network |
| CN109245818A (en) * | 2018-09-28 | 2019-01-18 | 西安直升机有限公司 | Helicopter communication platform system is commanded in early warning |
| CN109462432A (en) * | 2018-10-29 | 2019-03-12 | 广州昀亿智能科技发展有限公司 | A kind of communication system of power grids system based on dipper system |
| CN109901199A (en) * | 2019-03-16 | 2019-06-18 | 毕延彬 | A kind of emergency communication rescue system based on Beidou navigation technology |
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| CN111505680A (en) * | 2020-04-21 | 2020-08-07 | 中国人民解放军陆军勤务学院 | Logistics support vehicle monitoring and commanding system |
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| CN113408813A (en) * | 2021-06-30 | 2021-09-17 | 重庆东登科技有限公司 | Switching system of water emergency platform |
| CN116527108A (en) * | 2023-04-26 | 2023-08-01 | 中国人民解放军32039部队 | Multi-access resource comprehensive scheduling method and device based on ground management and control center |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108494468A (en) * | 2018-01-30 | 2018-09-04 | 中华物联网股份有限公司 | Equipment monitoring system and its method with satellite short message communication network |
| CN108281175A (en) * | 2018-03-02 | 2018-07-13 | 中南大学湘雅医院 | Medical aid system information based on triones navigation system services total platform |
| CN108322252A (en) * | 2018-04-08 | 2018-07-24 | 董亮 | First aid information connected system based on Big Dipper short message communication |
| CN109245818A (en) * | 2018-09-28 | 2019-01-18 | 西安直升机有限公司 | Helicopter communication platform system is commanded in early warning |
| CN109462432A (en) * | 2018-10-29 | 2019-03-12 | 广州昀亿智能科技发展有限公司 | A kind of communication system of power grids system based on dipper system |
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| CN111505680A (en) * | 2020-04-21 | 2020-08-07 | 中国人民解放军陆军勤务学院 | Logistics support vehicle monitoring and commanding system |
| CN111870234A (en) * | 2020-07-24 | 2020-11-03 | 清华大学 | Airborne pilot physiological data receiving and forwarding system |
| CN112464008A (en) * | 2020-11-02 | 2021-03-09 | 中国石油天然气集团有限公司 | Helicopter temporary take-off and landing point selection method and device |
| CN113408813A (en) * | 2021-06-30 | 2021-09-17 | 重庆东登科技有限公司 | Switching system of water emergency platform |
| CN116527108A (en) * | 2023-04-26 | 2023-08-01 | 中国人民解放军32039部队 | Multi-access resource comprehensive scheduling method and device based on ground management and control center |
| CN116527108B (en) * | 2023-04-26 | 2024-04-19 | 中国人民解放军32039部队 | Multi-access resource comprehensive scheduling method and device based on ground management and control center |
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