CN107144830B - A field search and rescue positioning device and positioning method - Google Patents

Abstract

The invention relates to a field search and rescue positioning device and a positioning method, wherein the device comprises a plurality of field pilot signal receiving and transmitting modules arranged on a power transmission tower and a remote monitoring module which is arranged at a remote monitoring center and matched with the field pilot signal receiving and transmitting units; the on-site pilot signal receiving and transmitting module comprises a connecting rod, a first motor, a first connecting plate, a first shell, a pilot signal receiving and transmitting unit, a control unit and an on-site power carrier signal receiving and transmitting unit, wherein one end of the connecting rod is fixedly connected with a power transmission tower, the first motor is arranged at the bottom end of the connecting rod, the first connecting plate is fixedly connected with an output shaft of the first motor, the upper end face of the first shell is fixedly connected with the first connecting plate, and the pilot signal receiving and transmitting unit, the control unit and the on-site power carrier signal receiving and transmitting unit are arranged in the first shell; the remote monitoring module comprises a remote power carrier signal receiving and transmitting unit matched with the on-site power carrier signal receiving and transmitting unit and a computer terminal; the computer terminal acquires the delay and the number of the mobile phone by acquiring a plurality of on-site pilot signal receiving and transmitting units, so that the mobile phone is positioned, and the security of positioning and tracking field operation personnel is greatly improved.

Description

A field search and rescue positioning device and positioning method

technical field

The invention relates to a field search and rescue positioning device and a positioning method.

Background technique

When people travel, play, or explore in the wild, they may be trapped due to falls, vehicle failures, accidental injuries, and other reasons. The most common way to call for help is to call for help. However, if the trapped area is not within the coverage of the base station, or the mobile phone signal is too weak due to terrain, environmental and other factors, the trapped people cannot call for help in time, especially in mountainous areas, forests and other areas, because the field of vision is limited and the search and rescue work is difficult. very big.

Contents of the invention

The purpose of the present invention is to provide a field search and rescue positioning device and positioning method to overcome the defects in the prior art.

In order to achieve the above object, the technical solution of the present invention is: a field search and rescue positioning device, including: a plurality of on-site pilot signal transceiver modules arranged on the transmission tower pylon and arranged at the remote monitoring center and connected to the on-site pilot The remote monitoring module matched with the frequency signal transceiver unit; the on-site pilot signal transceiver module includes a connecting rod fixedly connected to the transmission tower tower at one end, a first motor arranged at the bottom end of the connecting rod, and an output of the first motor The shaft is fixedly connected to the first connecting plate, the first housing whose upper end surface is fixedly connected to the first connecting plate, and the pilot signal transceiving unit, the control unit and the on-site power carrier signal transceiving unit arranged in the first housing; The first motor is connected to the control unit via a first motor drive circuit arranged in the first casing; the pilot signal transceiving unit and the on-site power carrier signal transceiving unit are both connected to the control unit The remote monitoring module includes a remote power carrier signal transceiver unit and a computer terminal connected to the power carrier signal transceiver unit; the on-site power carrier signal transceiver unit matches the remote power carrier signal transceiver unit.

In an embodiment of the present invention, the outer wall of the output shaft of the first motor is further provided with an infrared detection sensor connected to the control unit, and the bottom end of the first motor housing is provided with an infrared detection sensor A matching limit baffle; when the output shaft of the first motor rotates, the infrared detection sensor rotates with the output shaft, and when it rotates to the position of the limit baffle, the infrared detection sensor The control unit feeds back a trigger signal, and the control unit controls the reverse rotation of the first motor.

In an embodiment of the present invention, the connecting plate is provided with a through hole for the screw to pass through, and the upper end surface of the first housing is provided with a screw hole for the screw, and the connecting plate is connected to the first screw through the screw. The upper end surface of the housing is screwed and fixed.

In an embodiment of the present invention, the pilot signal transceiving unit is an OTDOA device.

In an embodiment of the present invention, the on-site power carrier signal transceiving unit and the remote power carrier signal transceiving unit both include: a coupler coupled to the power line, a signal coupling circuit connected to the coupler, and the The signal sending unit connected to the signal coupling unit and the signal receiving unit, the data processing unit connected to the signal sending unit and the signal receiving unit respectively, and the transmission interface connected to the data processing unit; the signal sending unit includes a power A modulation circuit and a power carrier transmission circuit; the signal receiving unit includes a power carrier sampling circuit and a power demodulation circuit.

In one embodiment of the present invention, the lower end surface of the first housing is provided with a second housing fixedly connected to the lower end surface of the first housing; The through holes of the motor, the third motor and the four motors; the outer side walls of the second motor, the third motor and the fourth motor are fixedly connected to the corresponding inner side walls of the through holes; the second motor passes through the second The motor driving circuit is connected to the control unit, the third motor is connected to the control unit through the third motor driving circuit, and the fourth motor is connected to the control unit through the fourth motor driving circuit; the second motor is connected to the control unit through the fourth motor driving circuit; The output shaft of the motor is fixedly connected to the top of the outer casing of a camera, and the camera is connected to the control circuit; the output shaft of the third motor is fixedly connected to the top of the outer casing of a night vision device, and the night vision device is connected to the top of the outer casing of the night vision device. The control circuit is connected; the output shaft of the fourth motor is fixedly connected to the top of the outer casing of a thermal imager, and the thermal imager is connected to the control circuit.

In an embodiment of the present invention, the control unit adopts MCU, FPG or CPLD.

A positioning method of a field search and rescue positioning device is also provided, which is implemented according to the following steps:

Step S1: Obtain the two-dimensional geographic coordinates and corresponding numbers of each on-site pilot signal transceiver module, and store them in the computer terminal;

Step S2: the control unit controls the rotation of the corresponding first motor, and the on-site pilot signal transceiver module sends the pilot signal to the corresponding current detection area in real time;

Step S3: When the on-site pilot signal transceiver module detects that there is a mobile phone access in the current detection area, obtain the on-site pilot signal from the transmission delay between the on-site pilot signal transceiver module and the mobile phone, and delay the transmission And the number of the on-site pilot signal transceiver module is uploaded to the computer terminal through the on-site power carrier signal transceiver unit and the remote power carrier signal transceiver unit;

Step S4: The computer terminal obtains the transmission delay and the corresponding serial number uploaded by the N on-site pilot signal transceiver modules that match the mobile phone;

Step S5: Record the location of the mobile phone as (x, y), the two-dimensional geographic coordinates of the on-site pilot signal transceiver module as ( _xi , y _i ), and the transmission delay between the on-site pilot signal transceiver module and the mobile phone as τ _i , i is the number of the on-site pilot signal transceiver module, c is the speed of light, and N≥3, then the measured distance between the mobile phone and the on-site pilot signal transceiver module:

的高斯分布的测量误差；Among them, ε _i is subject to a mean value of 0 and a variance of

Gaussian distribution of measurement error;

Step S6: Select a field pilot signal transceiver module as the master field pilot signal transceiver module, and use other field pilot signal transceiver modules as secondary field pilot signal transceiver modules;

Taking the distance between the main on-site pilot signal transceiver module and the mobile phone as the reference distance, the distance difference between the mobile phone and the slave on-site pilot signal transceiver module and the main on-site pilot signal transceiver module is:

Convert the above formula into a matrix:

是从现场导频信号收发模块与主现场导频信号收发模块距离差的测量值；d是从现场导频信号收发模块与主现场导频信号收发模块到手机距离差的真实值；ε为距离测量误差；in,

is the measured value of the distance difference between the on-site pilot signal transceiver module and the main on-site pilot signal transceiver module; d is the real value of the distance difference from the on-site pilot signal transceiver module and the main on-site pilot signal transceiver module to the mobile phone; ε is the distance Measurement error;

Step S7: The computer terminal solves the nonlinear equations in step S6, and calculates the two-dimensional geographical coordinates of the mobile phone.

Compared with the prior art, the present invention has the following beneficial effects:

1. The device and method proposed by the present invention are simple in structure and easy to realize;

2. Due to objective needs, the transmission tower is installed in a sparsely populated area in the field, which is the area where the mobile phone signal is weak. The device and method can improve the monitoring of field workers;

3. The transmission network is the signal transmission channel of the whole network, and the transmission network is used to complete the signal interaction;

4. The transmission tower is located at a high altitude, there is no obstruction around it, and the signal quality is good, which is conducive to improving the positioning accuracy;

5. Make full use of existing equipment and effectively save costs.

Description of drawings

Fig. 1 is a structural diagram of the field search and rescue positioning device of the present invention.

Fig. 2 is a schematic diagram of the field search and rescue positioning device of the present invention.

Fig. 3 is a schematic diagram of the on-site power carrier signal transceiving unit and the remote power carrier signal transceiving unit in the present invention.

Detailed ways

The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

The present invention provides a field search and rescue positioning device, as shown in Figures 1 to 3, comprising: a plurality of on-site pilot signal transceiver modules set on the transmission tower tower and set at the remote monitoring center and connected to the on-site pilot signal The remote monitoring module matched with the transceiver unit; the on-site pilot signal transceiver module includes a connecting rod 1 fixedly connected to the tower frame of the transmission tower at one end, a first motor 2 arranged at the bottom end of the connecting rod, and a connecting rod fixedly connected with the output shaft of the first motor The first connecting plate 3, the first housing 4 whose upper end surface is fixedly connected to the first connecting plate and the pilot signal transceiving unit, control unit and on-site power carrier signal transceiving unit arranged in the first housing; the first motor It is connected to the control unit through a first motor drive circuit arranged in the first casing; the pilot signal transceiver unit and the on-site power carrier signal transceiver unit are connected to the control unit; the remote monitoring module includes a remote power carrier signal transceiver unit and a The computer terminal connected with the power carrier signal transceiving unit; the on-site power carrier signal transceiving unit is matched with the remote power carrier signal transceiving unit.

Further, in this embodiment, an infrared detection sensor 5 connected to the control unit is provided on the outer wall of the output shaft of the first motor, and the bottom end of the first motor housing is provided with a limit baffle 6 that cooperates with the infrared detection sensor; When the output shaft of the first motor rotates, the infrared detection sensor rotates with the output shaft, and when it rotates to the limit baffle position, a trigger signal is fed back to the control unit through the infrared detection sensor, and the control unit controls the first motor to reverse.

Further, in this embodiment, the connecting plate is provided with a through hole for the screw to pass through, and the upper end surface of the first housing is provided with a screw hole for matching with the screw 7, and the connecting plate is screwed with the upper end surface of the first housing through the screw. then fixed.

Further, in this embodiment, the pilot signal transceiving unit is an OTDOA device.

Further, in this embodiment, both the on-site power carrier signal transceiving unit and the remote power carrier signal transceiving unit include: a coupler coupled to the power line, a signal coupling circuit connected to the coupler, and a signal transmission circuit respectively connected to the signal coupling unit. The unit and the signal receiving unit, the data processing unit connected to the signal sending unit and the signal receiving unit respectively, and the transmission interface connected to the data processing unit; the signal sending unit includes a power modulation circuit and a power carrier sending circuit; the signal receiving unit includes a power carrier sampling circuit and power demodulation circuit.

Further, in this embodiment, the lower end surface of the first housing is provided with a second housing 8 fixedly connected to the lower end surface of the first housing; the lower end surface of the second housing is provided with a second motor 9 , the through holes of the third motor 10 and the fourth motor 11; the outer walls of the second motor, the third motor and the fourth motor are fixedly connected to the inner walls of the corresponding through holes; the second motor is connected to the control via the second motor drive circuit unit, the third motor is connected to the control unit through the third motor drive circuit, and the fourth motor is connected to the control unit through the fourth motor drive circuit; the output shaft of the second motor is fixedly connected to the top of the outer casing of a camera 12, and the camera and the control circuit Connected; the third motor output shaft is fixedly connected to the top of the outer casing of a night vision device 13, and the night vision device is connected to the control circuit; the fourth motor output shaft is fixedly connected to the top of the outer casing of a thermal imager 14, and the thermal imager is connected to the top of the outer casing of the thermal imager 14. connected to the control circuit.

Further, in this embodiment, the control unit adopts MCU, FPG or CPLD.

Further, in this embodiment, a positioning method of a field search and rescue positioning device is also provided, which is implemented according to the following steps:

Step S1: Obtain the two-dimensional geographic coordinates and corresponding numbers of each on-site pilot signal transceiver module, and store them in the computer terminal;

Step S2: the control unit controls the rotation of the corresponding first motor, and the on-site pilot signal transceiver module sends the pilot signal to the corresponding current detection area in real time;

Step S3: When the on-site pilot signal transceiver module detects that there is a mobile phone access in the current detection area, obtain the on-site pilot signal from the transmission delay between the on-site pilot signal transceiver module and the mobile phone, and compare the transmission delay and the on-site pilot The serial number of the frequency signal transceiver module is uploaded to the computer terminal through the on-site power carrier signal transceiver unit and the remote power carrier signal transceiver unit;

Step S4: The computer terminal obtains the transmission delay and the corresponding number uploaded by the N on-site pilot signal transceiver modules that match the mobile phone;

Step S5: Record the location of the mobile phone as (x, y), the two-dimensional geographic coordinates of the on-site pilot signal transceiver module as ( _xi , y _i ), and the transmission delay between the on-site pilot signal transceiver module and the mobile phone as τ _i , i is the number of the on-site pilot signal transceiver module, c is the speed of light, and N≥3, then the measured distance between the mobile phone and the on-site pilot signal transceiver module:

的高斯分布的测量误差；Among them, ε _i is subject to a mean value of 0 and a variance of

Gaussian distribution of measurement error;

Step S6: Select a field pilot signal transceiver module as the master field pilot signal transceiver module, and use other field pilot signal transceiver modules as secondary field pilot signal transceiver modules;

Taking the distance between the main on-site pilot signal transceiver module and the mobile phone as the reference distance, the distance difference between the mobile phone and the slave on-site pilot signal transceiver module and the main on-site pilot signal transceiver module is:

Convert the above formula into a matrix:

是从现场导频信号收发模块与主现场导频信号收发模块距离差的测量值；d是从现场导频信号收发模块与主现场导频信号收发模块到手机距离差的真实值；ε为距离测量误差；in,

is the measured value of the distance difference between the on-site pilot signal transceiver module and the main on-site pilot signal transceiver module; d is the real value of the distance difference from the on-site pilot signal transceiver module and the main on-site pilot signal transceiver module to the mobile phone; ε is the distance Measurement error;

Step S7: The computer terminal solves the nonlinear equations in step S6, and calculates the two-dimensional geographical coordinates of the mobile phone.

In this embodiment, the computer terminal acquires the two-dimensional geographic coordinates of the mobile phone, and combines the electronic map with a display terminal to mark and display its coordinates on the electronic map, so that the operation and maintenance personnel can view it.

In this embodiment, the two-digit geographic coordinates of the acquired mobile phone are tracked by the computer terminal, and the retention time of the two-digit geographic coordinates is calculated. When the first threshold time is reached, the computer terminal prompts an alarm message; The operation and maintenance personnel send control information to the control module through the computer terminal, and obtain on-site image information in different environments by adjusting the angle of the camera, night vision device or thermal imager, which is convenient for remote on-site positioning tracking, viewing and monitoring.

The above are the preferred embodiments of the present invention, and all changes made according to the technical solution of the present invention, when the functional effect produced does not exceed the scope of the technical solution of the present invention, all belong to the protection scope of the present invention.

Claims (7)

1. A field search and rescue positioning device, characterized in that it includes: a plurality of on-site pilot signal transceiver modules arranged on the transmission tower pylon and a remote monitoring center and matched with the on-site pilot signal transceiver unit Remote monitoring module; the on-site pilot signal transceiver module includes a connecting rod fixedly connected to the transmission tower at one end, a first motor arranged at the bottom end of the connecting rod, and a first motor fixedly connected to the output shaft of the first motor. The connecting plate, the first housing whose upper end surface is fixedly connected to the first connecting plate, and the pilot signal transceiving unit, control unit and on-site power carrier signal transceiving unit arranged in the first housing; the first motor passes through a The first motor drive circuit arranged in the first casing is connected to the control unit; the pilot signal transceiving unit and the on-site power carrier signal transceiving unit are both connected to the control unit; the remote monitoring module It includes a remote power carrier signal transceiver unit and a computer terminal connected to the power carrier signal transceiver unit; the on-site power carrier signal transceiver unit is matched with the remote power carrier signal transceiver unit; Both the on-site power carrier signal transceiving unit and the remote power carrier signal transceiving unit include: a coupler coupled to the power line, a signal coupling circuit connected to the coupler, and a signal sending unit connected to the signal coupling unit respectively A data processing unit connected to the signal receiving unit, the signal sending unit and the signal receiving unit respectively, and a transmission interface connected to the data processing unit; the signal sending unit includes a power modulation circuit and a power carrier sending circuit; The signal receiving unit includes a power carrier sampling circuit and a power demodulation circuit. 2. A field search and rescue positioning device according to claim 1, characterized in that, the outer wall of the output shaft of the first motor is also provided with an infrared detection sensor connected to the control unit, and the housing of the first motor The bottom end is provided with a limit baffle that cooperates with the infrared detection sensor; when the output shaft of the first motor rotates, the infrared detection sensor rotates with the output shaft, and when rotated to the position of the limit baffle , a trigger signal is fed back to the control unit through the infrared detection sensor, and the control unit controls the reverse rotation of the first motor. 3. A field search and rescue positioning device according to claim 1, characterized in that, the connecting plate is provided with a through hole for the screw to pass through, and the upper end surface of the first housing is provided with a screw hole to cooperate with the screw , the connecting plate is screwed and fixed to the upper end surface of the first casing by screws. 4. A field search and rescue positioning device according to claim 1, wherein the pilot signal transceiving unit is an OTDOA device. 5. A field search and rescue positioning device according to claim 1, characterized in that, the lower end surface of the first housing is provided with a second housing fixedly connected to the lower end surface of the first housing; The lower end surface of the second housing is provided with through holes for fixing the second motor, the third motor and the fourth motor; the outer walls of the second motor, the third motor and the fourth motor and the corresponding through holes The inner wall is fixedly connected; the second motor is connected to the control unit through the second motor drive circuit, the third motor is connected to the control unit through the third motor drive circuit, and the fourth motor is connected to the control unit through the fourth motor drive circuit. The drive circuit is connected to the control unit; the second motor output shaft is fixedly connected to the top of the outer shell of a camera, and the camera is connected to the control unit; the third motor output shaft is connected to the outer shell of a night vision device The top of the body is fixedly connected, and the night vision device is connected to the control unit; the output shaft of the fourth motor is fixedly connected to the top of the outer casing of a thermal imager, and the thermal imager is connected to the control unit. 6. A field search and rescue positioning device according to claim 1, characterized in that, the control unit adopts MCU, FPGA or CPLD. 7. A positioning method based on a kind of field search and rescue positioning device according to claim 1, characterized in that, it is realized according to the following steps: Step S1: Obtain the two-dimensional geographic coordinates and corresponding numbers of each on-site pilot signal transceiver module, and store them in the computer terminal; Step S2: the control unit controls the rotation of the corresponding first motor, and the on-site pilot signal transceiver module sends the pilot signal to the corresponding current detection area in real time; Step S3: When the on-site pilot signal transceiver module detects that there is a mobile phone access in the current detection area, obtain the on-site pilot signal from the transmission delay between the on-site pilot signal transceiver module and the mobile phone, and delay the transmission And the number of the on-site pilot signal transceiver module is uploaded to the computer terminal through the on-site power carrier signal transceiver unit and the remote power carrier signal transceiver unit; Step S4: The computer terminal obtains the transmission delay and the corresponding serial number uploaded by the N on-site pilot signal transceiver modules that match the mobile phone; Step S5: Record the position of the mobile phone as (x, y), the two-dimensional geographic coordinates of the on-site pilot signal transceiver module as ( _xi , y _i ), and the transmission delay between the on-site pilot signal transceiver module and the mobile phone as τ _i , i is the number of the on-site pilot signal transceiver module, c is the speed of light, and N≥3, then the measured distance between the mobile phone and the on-site pilot signal transceiver module:

Among them, ε _i is the measurement error that obeys the Gaussian distribution with mean value 0 and variance σ _i ² ; Step S6: Select a field pilot signal transceiver module as the master field pilot signal transceiver module, and use other field pilot signal transceiver modules as secondary field pilot signal transceiver modules; Taking the distance between the main on-site pilot signal transceiver module and the mobile phone as the reference distance, the distance difference between the mobile phone and the slave on-site pilot signal transceiver module and the main on-site pilot signal transceiver module is:

Convert the above formula into a matrix:

in,

is the measured value of the distance difference between the on-site pilot signal transceiver module and the main on-site pilot signal transceiver module; d is the real value of the distance difference from the on-site pilot signal transceiver module and the main on-site pilot signal transceiver module to the mobile phone; ε is the distance Measurement error; Step S7: The computer terminal solves the nonlinear equations in step S6, and calculates the two-dimensional geographical coordinates of the mobile phone.

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