CN107144830B - Outdoor search and rescue positioning device and positioning method - Google Patents
Outdoor search and rescue positioning device and positioning method Download PDFInfo
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- CN107144830B CN107144830B CN201710518665.5A CN201710518665A CN107144830B CN 107144830 B CN107144830 B CN 107144830B CN 201710518665 A CN201710518665 A CN 201710518665A CN 107144830 B CN107144830 B CN 107144830B
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- 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
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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
Technical Field
The invention relates to a field search and rescue positioning device and a positioning method.
Background
When people go out, play and explore outdoors, people may suffer from the reasons of foot loss, falling, vehicle faults, accidental injury and the like. A common help seeking method is telephone help seeking. However, if the trapped area is not within the coverage area of the base station or the mobile phone signal is too weak due to the factors of topography, environment and the like, trapped personnel cannot ask for help in time, especially in areas such as mountain areas, forests and the like, because the field of view is limited, the search and rescue work difficulty is very high.
Disclosure of Invention
The invention aims to provide a field search and rescue positioning device and a positioning method, which are used for overcoming the defects in the prior art.
In order to achieve the above purpose, the technical scheme of the invention is as follows: a field search and rescue positioning device, comprising: the system comprises a plurality of field pilot signal receiving and transmitting modules arranged on a power transmission tower and a remote monitoring module 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 the tower of the 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 first motor is connected to the control unit through a first motor driving circuit arranged on the first shell; the pilot signal receiving and transmitting unit and the field power carrier signal receiving and transmitting unit are connected with the control unit; the remote monitoring module comprises a remote power carrier signal receiving and transmitting unit and a computer terminal connected with the power carrier signal receiving and transmitting unit; the on-site power carrier signal transceiving unit is matched with the remote power carrier signal transceiving unit.
In an embodiment of the invention, the outer side wall of the output shaft of the first motor is also provided with an infrared detection sensor connected with the control unit, and the bottom end of the first motor shell is provided with a limit baffle matched with the infrared detection sensor; when the output shaft of the first motor rotates, the infrared detection sensor rotates along with the output shaft, and when the output shaft rotates 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 first motor to rotate reversely.
In an embodiment of the invention, the connecting plate is provided with a through hole for a screw to pass through, the upper end surface of the first shell is provided with a screw hole matched with the screw, and the connecting plate is in threaded connection and fixed with the upper end surface of the first shell through the screw.
In an embodiment of the present invention, the pilot signal transceiver unit is an OTDOA device.
In an embodiment of the present invention, the on-site power carrier signal transceiver unit and the remote power carrier signal transceiver unit each include: the device comprises a coupler coupled with a power line, a signal coupling circuit connected with the coupler, a signal transmitting unit and a signal receiving unit which are respectively connected with the signal coupling unit, a data processing unit which is respectively connected with the signal transmitting unit and the signal receiving unit, and a transmission interface connected with the data processing unit; the signal transmitting unit comprises a power modulating circuit and a power carrier transmitting circuit; the signal receiving unit comprises a power carrier sampling circuit and a power demodulation circuit.
In an embodiment of the present invention, a second housing fixedly connected to the lower end surface of the first housing is disposed on the lower end surface of the first housing; the lower end face of the second shell is provided with through holes for fixedly arranging a second motor, a third motor and four motors; the outer side walls of the second motor, the third motor and the fourth motor are fixedly connected with the inner side walls of the corresponding through holes; the second motor is connected to the control unit through a second motor driving circuit, the third motor is connected to the control unit through a third motor driving circuit, and the fourth motor is connected to the control unit through a fourth motor driving circuit; the second motor output shaft is fixedly connected with the top of the outer shell of a camera, and the camera is connected with the control circuit; the output shaft of the third motor is fixedly connected with the top of the outer shell of a night vision device, and the night vision device is connected with the control circuit; the fourth motor output shaft is fixedly connected with the top of the outer shell of a thermal imaging instrument, and the thermal imaging instrument is connected with the control circuit.
In an embodiment of the present invention, the control unit uses MCU, FPG or CPLD.
The positioning method of the field search and rescue positioning device is realized according to the following steps:
step S1: acquiring two-dimensional geographic coordinates and corresponding numbers of each field pilot signal receiving and transmitting module, and storing the two-dimensional geographic coordinates and corresponding numbers in the computer terminal;
step S2: the control unit controls the corresponding first motor to rotate, and the on-site pilot signal receiving and transmitting module transmits pilot signals to the corresponding current detection area in real time;
step S3: when the field pilot signal receiving and transmitting module detects that a mobile phone is accessed in a current detection area, acquiring the transmission time delay between the field pilot signal receiving and transmitting module and the mobile phone, and uploading the transmission time delay and the serial number of the field pilot signal receiving and transmitting module to the computer terminal through the field power carrier signal receiving and transmitting unit and the remote power carrier signal receiving and transmitting unit;
step S4: the computer terminal acquires the transmission delay matched with the mobile phone and the corresponding number uploaded by the N field pilot signal receiving and transmitting modules;
step S5: the position of the mobile phone is recorded as (x, y), and the two-dimensional geographic coordinate of the on-site pilot signal receiving and transmitting module is recorded as (x i ,y i ) The transmission delay between the on-site pilot signal receiving and transmitting module and the mobile phone is tau i I is the number of the on-site pilot signal receiving and transmitting module, c is the light speed, and N is more than or equal to 3, and the distance measurement value of the mobile phone and the on-site pilot signal receiving and transmitting module is as follows:
wherein ,εi For obeying mean value 0, variance 0
Is a gaussian distributed measurement error of (2);
step S6: selecting one field pilot signal transceiver module as a master field pilot signal transceiver module, and using the rest field pilot signal transceiver modules as slave field pilot signal transceiver modules;
taking the distance between the master site pilot signal receiving and transmitting module and the mobile phone as a reference distance, the difference between the distances between the mobile phone and the slave site pilot signal receiving and transmitting module and the master site pilot signal receiving and transmitting module is as follows:
converting the above into a matrix:
wherein ,
is a measurement of the distance difference between the slave and master field pilot signal transceiver modules; d is the true value of the distance difference between the slave field pilot signal transceiver module and the master field pilot signal transceiver module; epsilon is the distance measurement error;
step S7: and the computer terminal solves the nonlinear equation set in the step S6 and calculates the two-dimensional geographic coordinates of the mobile phone.
Compared with the prior art, the invention has the following beneficial effects:
1. the device and the method provided by the invention have simple structure and are easy to realize;
2. the power transmission tower is arranged at a sparse place of outdoor human smoke due to objective requirements, is just an area with weak mobile phone signals, and can improve the monitoring of field operation personnel through the device and the method;
3. the transmission network is a signal transmission channel communicated with the whole network, and the signal interaction is completed by using the transmission network;
4. the power transmission tower has high altitude position, no shielding object around, good signal quality and contribution to improving the positioning precision;
5. fully utilizes the existing equipment and effectively saves the cost.
Drawings
FIG. 1 is a block diagram of a field search and rescue positioning device in the invention.
FIG. 2 is a schematic diagram of a field search and rescue positioning device in the invention.
Fig. 3 is a schematic diagram of a field power carrier signal transceiver unit and a remote power carrier signal transceiver unit according to the present invention.
Detailed Description
The technical scheme of the invention is specifically described below with reference to the accompanying drawings.
The invention provides a field search and rescue positioning device, as shown in figures 1 to 3, comprising: the plurality of field pilot signal receiving and transmitting modules are arranged on the power transmission tower and the remote monitoring module is arranged at the remote monitoring center and matched with the field pilot signal receiving and transmitting unit; the on-site pilot signal receiving and transmitting module comprises a connecting rod 1, a first motor 2, a first connecting plate 3, a first shell 4, 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 2 is arranged at the bottom end of the connecting rod, the first connecting plate 3 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 first motor is connected to the control unit through a first motor driving circuit arranged on the first shell; the pilot signal receiving and transmitting unit and the field power carrier signal receiving and transmitting unit are connected with the control unit; the remote monitoring module comprises a remote power carrier signal receiving and transmitting unit and a computer terminal connected with the power carrier signal receiving and transmitting unit; the on-site power carrier signal receiving and transmitting unit is matched with the remote power carrier signal receiving and transmitting unit.
Further, in this embodiment, an infrared detection sensor 5 connected to the control unit is further disposed on the outer side wall of the output shaft of the first motor, and a limit baffle 6 matched with the infrared detection sensor is disposed at the bottom end of the first motor housing; when the output shaft of the first motor rotates, the infrared detection sensor rotates along with the output shaft, and when the output shaft rotates 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 first motor to rotate reversely.
Further, in this embodiment, the through hole for the screw to pass through is provided in the connecting plate, and the first casing up end is provided with the screw with screw 7 complex, and the connecting plate passes through the screw and is fixed with the up end spiro union of first casing.
Further, in this embodiment, the pilot signal transceiver unit is an OTDOA device.
Further, in this embodiment, the on-site power carrier signal transceiver unit and the remote power carrier signal transceiver unit each include: the device comprises a coupler coupled with a power line, a signal coupling circuit connected with the coupler, a signal transmitting unit and a signal receiving unit which are respectively connected with the signal coupling unit, a data processing unit which is respectively connected with the signal transmitting unit and the signal receiving unit, and a transmission interface connected with the data processing unit; the signal transmitting unit comprises a power modulating circuit and a power carrier transmitting circuit; the signal receiving unit comprises a power carrier sampling circuit and a 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 shell is provided with a through hole for fixedly arranging a second motor 9, a third motor 10 and a fourth motor 11; the outer side walls of the second motor, the third motor and the fourth motor are fixedly connected with the inner side walls of the corresponding through holes; the second motor is connected to the control unit through a second motor driving circuit, the third motor is connected to the control unit through a third motor driving circuit, and the fourth motor is connected to the control unit through a fourth motor driving circuit; the output shaft of the second motor is fixedly connected with the top of the outer shell of a camera 12, and the camera is connected with a control circuit; the output shaft of the third motor is fixedly connected with the top of the outer shell of a night vision device 13, and the night vision device is connected with the control circuit; the fourth motor output shaft is fixedly connected with the top of the outer shell of a thermal imager 14, and the thermal imager is connected with the control circuit.
Further, in this embodiment, the control unit employs an MCU, an FPG, or a CPLD.
Further, in this embodiment, a positioning method of a field search and rescue positioning device is further provided, which is implemented according to the following steps:
step S1: acquiring two-dimensional geographic coordinates and corresponding numbers of each field pilot signal receiving and transmitting module, and storing the two-dimensional geographic coordinates and corresponding numbers in a computer terminal;
step S2: the control unit controls the corresponding first motor to rotate, and the on-site pilot signal receiving and transmitting module transmits pilot signals to the corresponding current detection area in real time;
step S3: when the field pilot signal receiving and transmitting module detects that a mobile phone is accessed in the current detection area, the transmission time delay between the field pilot signal receiving and transmitting module and the mobile phone is acquired, and the transmission time delay and the serial number of the field pilot signal receiving and transmitting module are uploaded to a computer terminal through the field power carrier signal receiving and transmitting unit and the remote power carrier signal receiving and transmitting unit;
step S4: the computer terminal obtains the transmission time delay matched with the mobile phone and the corresponding number uploaded by the N on-site pilot signal receiving and transmitting modules;
step S5: the position of the mobile phone is recorded as (x, y), and the two-dimensional geographic coordinate of the on-site pilot signal receiving and transmitting module is recorded as (x i ,y i ) The transmission delay between the on-site pilot signal receiving and transmitting module and the mobile phone is tau i I is the number of the on-site pilot signal receiving and transmitting module, c is the light speed, and N is more than or equal to 3, and the distance measurement value of the mobile phone and the on-site pilot signal receiving and transmitting module is as follows:
wherein ,εi For obeying mean value 0, variance 0
Is a gaussian distributed measurement error of (2);
step S6: selecting one field pilot signal transceiver module as a master field pilot signal transceiver module, and using the rest field pilot signal transceiver modules as slave field pilot signal transceiver modules;
taking the distance between the master site pilot signal receiving and transmitting module and the mobile phone as a reference distance, the difference between the distances between the mobile phone and the slave site pilot signal receiving and transmitting module and the master site pilot signal receiving and transmitting module is as follows:
converting the above into a matrix:
wherein ,
is a measurement of the distance difference between the slave and master field pilot signal transceiver modules; d is the true value of the distance difference between the slave field pilot signal transceiver module and the master field pilot signal transceiver module; epsilon is the distance measurement error;
step S7: and (3) solving the nonlinear equation set in the step S6 by the computer terminal, and calculating the two-dimensional geographic coordinates of the mobile phone.
In this embodiment, the computer terminal obtains the two-dimensional geographic coordinates of the mobile phone, and combines the two-dimensional geographic coordinates with the electronic map through a display terminal, marks and displays the coordinates on the electronic map, so that the operation and maintenance personnel can check the coordinates conveniently.
In the embodiment, tracking the acquired two-position geographic coordinates of the mobile phone through the computer terminal, calculating the retention time of the two-position geographic coordinates, and prompting alarm information when the retention time reaches a first threshold time; the operation and maintenance personnel of the remote monitoring center send control information to the control module through the computer terminal, and the on-site image information under different environments is acquired by adjusting the angles of the camera, the night vision device or the thermal imaging device, so that the remote on-site positioning tracking, checking and monitoring are facilitated.
The above is a preferred embodiment of the present invention, and all changes made according to the technical solution of the present invention belong to the protection scope of the present invention when the generated functional effects do not exceed the scope of the technical solution of the present invention.
Claims (7)
1. The utility model provides a field search and rescue positioner which characterized in that includes: the system comprises a plurality of field pilot signal receiving and transmitting modules arranged on a power transmission tower and a remote monitoring module 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 the tower of the 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 first motor is connected to the control unit through a first motor driving circuit arranged on the first shell; the pilot signal receiving and transmitting unit and the field power carrier signal receiving and transmitting unit are connected with the control unit; the remote monitoring module comprises a remote power carrier signal receiving and transmitting unit and a computer terminal connected with the power carrier signal receiving and transmitting unit; the on-site power carrier signal receiving and transmitting unit is matched with the remote power carrier signal receiving and transmitting unit;
the on-site power carrier signal transceiving unit and the remote power carrier signal transceiving unit each include: the device comprises a coupler coupled with a power line, a signal coupling circuit connected with the coupler, a signal transmitting unit and a signal receiving unit which are respectively connected with the signal coupling unit, a data processing unit which is respectively connected with the signal transmitting unit and the signal receiving unit, and a transmission interface connected with the data processing unit; the signal transmitting unit comprises a power modulating circuit and a power carrier transmitting circuit; the signal receiving unit comprises a power carrier sampling circuit and a power demodulation circuit.
2. The outdoor search and rescue positioning device according to claim 1, wherein an infrared detection sensor connected with the control unit is further arranged on the outer side wall of the output shaft of the first motor, and a limit baffle matched with the infrared detection sensor is arranged at the bottom end of the first motor shell; when the output shaft of the first motor rotates, the infrared detection sensor rotates along with the output shaft, and when the output shaft rotates 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 first motor to rotate reversely.
3. The field search and rescue positioning device according to claim 1, wherein the connecting plate is provided with a through hole for a screw to pass through, the upper end face of the first shell is provided with a screw hole matched with the screw, and the connecting plate is in threaded connection and fixed with the upper end face of the first shell through the screw.
4. A field search and rescue positioning device according to claim 1, wherein the pilot signal transceiver unit is an OTDOA device.
5. The field search and rescue positioning device according to claim 1, wherein the lower end surface of the first housing is provided with a second housing fixedly connected with the lower end surface of the first housing; the lower end surface of the second shell is provided with a through hole for fixedly arranging a second motor, a third motor and a fourth motor; the outer side walls of the second motor, the third motor and the fourth motor are fixedly connected with the inner side walls of the corresponding through holes; the second motor is connected to the control unit through a second motor driving circuit, the third motor is connected to the control unit through a third motor driving circuit, and the fourth motor is connected to the control unit through a fourth motor driving circuit; the second motor output shaft is fixedly connected with the top of the outer shell of a camera, and the camera is connected with the control unit; the output shaft of the third motor is fixedly connected with the top of the outer shell of a night vision device, and the night vision device is connected with the control unit; the fourth motor output shaft is fixedly connected with the top of the outer shell of a thermal imaging instrument, and the thermal imaging instrument is connected with the control unit.
6. The field search and rescue positioning device according to claim 1, wherein the control unit is an MCU, an FPGA or a CPLD.
7. A positioning method based on the field search and rescue positioning device as claimed in claim 1, which is characterized by comprising the following steps:
step S1: acquiring two-dimensional geographic coordinates and corresponding numbers of each field pilot signal receiving and transmitting module, and storing the two-dimensional geographic coordinates and corresponding numbers in the computer terminal;
step S2: the control unit controls the corresponding first motor to rotate, and the on-site pilot signal receiving and transmitting module transmits pilot signals to the corresponding current detection area in real time;
step S3: when the field pilot signal receiving and transmitting module detects that a mobile phone is accessed in a current detection area, acquiring the transmission time delay between the field pilot signal receiving and transmitting module and the mobile phone, and uploading the transmission time delay and the serial number of the field pilot signal receiving and transmitting module to the computer terminal through the field power carrier signal receiving and transmitting unit and the remote power carrier signal receiving and transmitting unit;
step S4: the computer terminal acquires the transmission delay matched with the mobile phone and the corresponding number uploaded by the N field pilot signal receiving and transmitting modules;
step S5: the position of the mobile phone is recorded as (x, y), and the two-dimensional geographic coordinate of the on-site pilot signal receiving and transmitting module is recorded as (x i ,y i ) The transmission delay between the on-site pilot signal receiving and transmitting module and the mobile phone is tau i I is the number of the on-site pilot signal receiving and transmitting module, c is the light speed, and N is more than or equal to 3, and the distance measurement value of the mobile phone and the on-site pilot signal receiving and transmitting module is as follows:
wherein ,εi For a mean value of 0 and a variance of sigma i 2 Is a gaussian distributed measurement error of (2);
step S6: selecting one field pilot signal transceiver module as a master field pilot signal transceiver module, and using the rest field pilot signal transceiver modules as slave field pilot signal transceiver modules;
taking the distance between the master site pilot signal receiving and transmitting module and the mobile phone as a reference distance, the difference between the distances between the mobile phone and the slave site pilot signal receiving and transmitting module and the master site pilot signal receiving and transmitting module is as follows:
converting the above into a matrix:
wherein ,
is a measurement of the distance difference between the slave and master field pilot signal transceiver modules; d is the true value of the distance difference between the slave field pilot signal transceiver module and the master field pilot signal transceiver module; epsilon is the distance measurement error;
step S7: and the computer terminal solves the nonlinear equation set in the step S6 and calculates the two-dimensional geographic coordinates of the mobile phone.
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| CN113193882B (en) * | 2021-04-02 | 2023-07-14 | 渝丰科技股份有限公司 | Power carrier communication-based field help-seeking positioning method |
| CN114414030B (en) * | 2021-12-10 | 2024-01-26 | 中南安全环境技术研究院股份有限公司 | Positioning boundary pile for field search and rescue and positioning method |
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| CN107144830A (en) | 2017-09-08 |
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