CN108226984A - A kind of long-range cruise monitoring system and its method - Google Patents
A kind of long-range cruise monitoring system and its method Download PDFInfo
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- CN108226984A CN108226984A CN201810066117.8A CN201810066117A CN108226984A CN 108226984 A CN108226984 A CN 108226984A CN 201810066117 A CN201810066117 A CN 201810066117A CN 108226984 A CN108226984 A CN 108226984A
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/17—Emergency applications
-
- 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
- G01S19/40—Correcting position, velocity or attitude
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- 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
- G01S19/52—Determining velocity
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
A kind of long-range cruise monitoring system and its method, system includes cruise alignment system and remote monitoring platform, wherein cruise alignment system includes control processor, and GPS device, inertial nevigation apparatus, the first R-T unit, the second R-T unit, calibrating installation, display device, radio transmitting device and the multiple anchor points being connect respectively with control processor, it can realize the real-time positioning in cruise and cruise cabin, and calibration update can be carried out in real time, positioning accuracy can be improved, and it can realize seamless positioning, strong applicability, low energy consumption；While compensating for the shortcomings that inertial nevigation apparatus compensation calibration error is big, cruise can remotely be monitored in real time, can be rescued in time when occurring dangerous.
Description
Technical field
The present invention relates to wireless monitor fields, and in particular to a kind of long-range cruise monitoring system and its method.
Background technology
At present, it with ocean and maritime travel business is greatly developed, needs to pay attention to pushing cruise transport and overland transport, boat
The scientific and technological content and novelty of harbour and ship is continuously improved in the coordinated development of defeated other means of transportation of grade of air transport.To the year two thousand twenty
Bottom, global cruise tourist are expected to break through 30,000,000 person-times, and with the increase of demand, various countries also constantly increase the investment of cruise industry
Add, also constantly promoted come the cruise industry totality supply level weighed with haulage capacity., big data, information economy, internet+
So that the economic value and industry effect of cruise information highlight, cruise information economy has wide for rapid development with cruise market
Prospect of industrial development.
The auxiliary facility of cruise is a huge facility of forming a complete and comprehensive system for collecting real estate fees, collecting and distributing with transport hub center that includes cruise
Auxiliary facility and the mating of service, cruise government affairs and business information platform and service, cruise facility and its information platform etc., it is huge
Big structural framing needs the system of diversification to be completed to coordinate.
The alignment system system important as one, can be periphery other systems and cruise auxiliary facility and its
Staff, passenger etc. provide service in many ways.However, cruise mostly rides the sea for a long time, it is of the prior art mostly to adopt
The positioning of cruise is realized with GPS device or inertial nevigation apparatus.However GPS positioning need meet certain visual field and weather will
It asks, often will appear can not search the problems such as star or position error are big, the time is long, can not simultaneously for the indoor environment in cabin
Positioning in real time.Inertial nevigation apparatus is required for being calibrated greatly, and positioning for a long time then will appear larger error.Also, GPS device or
Person's inertial nevigation apparatus needs constantly to carry out in real time, and energy consumption is big, and the time is long.
Also, cruise is located at sea for a long time after going to sea, and emergency condition is limited, once it is in an emergency, it is difficult to effectively
Reply.If can be distally monitored in real time to marine cruise, this can be effectively overcome the problems, such as.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of long-range cruise monitoring system and its method,
It can realize the real-time positioning in cruise and cruise cabin, and can carry out calibration update in real time, can improve positioning accurate
Degree, and can realize seamless positioning, strong applicability, low energy consumption；Compensate for the shortcomings that inertial nevigation apparatus compensation calibration error is big
Meanwhile cruise can remotely be monitored in real time, it can be rescued in time when occurring dangerous.
The present invention provides a kind of long-range cruise monitoring system, including cruise alignment system and remote monitoring platform, cruise
Alignment system includes control processor and the GPS device being connect respectively with control processor, inertial nevigation apparatus, the first transmitting-receiving dress
It puts, the second R-T unit, calibrating installation, display device, radio transmitting device and multiple anchor points；Wherein the multiple anchor point,
One R-T unit and the relative position information of the second R-T unit and GPS device are it is known that the first R-T unit, the second R-T unit
It being located along the same line on a projection plane with GPS device, vertical range of the calibrating installation apart from GPS device is setting at L,
GPS device includes transmitter；
Remote monitoring platform includes wireless transmitter and the server being connect respectively with wireless transmitter and monitoring
Terminal；
Radio transmitting device is connected with line R-T unit by Wi-Fi.
Further, anchor point, the first R-T unit and the relative position information of the second R-T unit and GPS device are anchor
Air line distance, vertical range and difference in height between point, the first R-T unit and the second R-T unit and GPS device.
Further, the wireless network is GPRS, 3G, 4G and/or WIFI network.
Further, the radio transmitting device is connected by Wi-Fi with line R-T unit and turned specifically by satellite
Hair communication.
Further, monitor terminal includes display device, sound broadcasting device and data processing equipment.
The present invention also provides a kind of long-range cruise monitoring methods, sequentially include the following steps：
(1) in the case where cruise is static, initial calibration is carried out to cruise alignment system：
(2) remote monitoring platform sends Location Request to cruise alignment system according to the period, judges that cruise alignment system is
No normal work：
A. cruise alignment system, which is sent, determines that information to remote monitoring platform, enters step (3)；Or
B. cruise alignment system determines information to remote monitoring platform or remote monitoring without sending within a certain period of time
Platform confirms that cruise is in an emergency, and remote monitoring platform forces to send positioning command to cruise alignment system；
(3) start to position, GPS device receives the satellite data from satellite, is obtained from after resolving by control processor
The coordinate G (x, y, z) of body；
(4) the coordinate G (x, y, z) based on GPS device, utilizes the first R-T unit and the second R-T unit and GPS device
Relative position information, obtain the position coordinates of the first R-T unit and the second R-T unit respectively；
(5) the headway v of cruise is obtained：
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and
Vertical range of second R-T unit apart from GPS device is respectively a1 and a2, and GPS device and the first R-T unit and second are received and dispatched
The measurement distance of device is respectively R1 and R2, and d1 and d2 are respectively to be calculated based on the first R-T unit and the second R-T unit
Displacement, calculation is as follows：
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2The headway v=d/c of)/2, then cruise；
(6) inertial guidance data of cruise is obtained using inertial nevigation apparatus, the headway v and the fortune of cruise that step (5) is obtained
Dynamic parameter is compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；If
It is unsatisfactory for, then correction is compensated to inertial nevigation apparatus；
(7) inertial guidance data is obtained based on inertial nevigation apparatus in real time, when meeting GPS positioning condition, is obtained using GPS device
Location information of the location information as cruise；When being unsatisfactory for GPS positioning condition, believe by the use of inertial guidance data as auxiliary positioning
Breath carries out resolving the location information for obtaining cruise with reference to the history location information that GPS device obtains；
(8) location information for sending cruise is stored to remote monitoring platform, and by location information and temporal information, real
When position shown, decide whether to be rescued according to actual conditions.
Further, the step (1) is specially：
(1.1) emit signal to the first R-T unit and the second R-T unit, first in synchronization using transmitter to receive
Transmitting apparatus and the second R-T unit receive transmitting signal respectively, and at the time of record receives transmitting signal respectively；
(1.2) it calculates respectively relative to the transmitting signal moment of the first R-T unit and the second R-T unit and receives signal
The time difference at moment obtains the initial measurement distance of the first R-T unit and the second R-T unit and GPS device respectively；
(1.3) be respectively compared the first R-T unit, the known distance of the second R-T unit and GPS device and initial measurement away from
Difference between：If difference is zero, into next step, if difference is not zero, received based on difference adjustment first
Transmitting apparatus and the second R-T unit relative to GPS device position so that the first R-T unit, the second R-T unit and GPS are filled
The distance put is identical with known distance, return to step (1.1).
Description of the drawings
Fig. 1 is long-range cruise monitoring system structure diagram.
Fig. 2 is long-range cruise monitoring system vertical view.
Fig. 3 calibrates more new diagram for long-range cruise monitoring system.
Fig. 4 is long-range cruise monitoring system electrical block diagram.
Specific embodiment
The following detailed description of the specific implementation of the present invention, it is necessary to it is indicated herein to be, implement to be only intended to this hair below
Bright further explanation, it is impossible to be interpreted as limiting the scope of the invention, field technology skilled person is according to above-mentioned
Some nonessential modifications and adaptations that invention content makes the present invention, still fall within protection scope of the present invention.
The present invention provides a kind of long-range cruise monitoring system and its methods, as shown in attached drawing 1-2, long-range cruise monitoring system
System includes being set to the GPS device 1 (being denoted as G points) on cruise top and radio transmitting device 6, further includes apart from GPS device 1
Vertical range is the calibrating installation 4 of L.When meeting GPS positioning condition, you can when seeing that number of satellite is at least 4, GPS device 1
The satellite data from satellite is received, the coordinate G (x, y, z) of itself is obtained after being resolved by control processor.Calibrating installation 4
Location-Unknown, but as shown in Figure 1, the plane coordinates and GPS device 1 of calibrating installation 4 are identical, only ordinate has the difference of L
Amount, then directly can obtain the coordinate G ' (x, y, z-L) of calibrating installation 4 using coordinate G (x, y, z).
Long-range cruise monitoring system further includes remote monitoring platform, remote monitoring platform include server, monitor terminal with
And wireless transmitter.Control processor can send location information by 6 active of radio transmitting device to remote monitoring platform,
Can also remote monitoring platform directly transmit Location Request and received through radio transmitting device 6, position is sent after reception after confirmation
Information is to remote monitoring platform；When remote monitoring platform send Location Request for a long time it is unresponsive when or remote monitoring platform
When judging that cruise is in an emergency, remote monitoring platform can force to send positioning command to cruise end, and positioning command is through nothing
After line transmitting device 6 receives, need not move through confirmation and location information is directly sent to remote monitoring platform, remote monitoring is put down
Platform decides whether to be rescued by actual conditions.
It should be noted that radio transmitting device 6 carries out communication transfer with remote monitoring platform by Wi-Fi, here
Transmission mode be not restricted by, such as can be realized according to communication networks such as GPRS, 3G, 4G, can also be for example, by WIFI
Wireless transmission methods is waited to realize.Under certain conditions, it can be realized by way of satellite forwarding.
Long-range cruise monitoring system further includes the multiple anchor points 5 being correspondingly arranged respectively in the Shang Hechuan storehouses of cruise deck, and Fig. 2 is
Anchor point 5 on cruise deck is set as the situation of 4, and certainly in the case that reasonably, the quantity of anchor point according to actual needs may be used
To be set as multiple, such as with the multiple of web form setting.As shown in Fig. 2, the quantity of anchor point 5 is 4, respectively around GPS
Device 1 sets and forms rectangle.The relative position information of anchor point 5 and GPS device 1 it is known that i.e. anchor point 5 to GPS device 1 away from
It is known from, location informations such as vertical range, difference in height.Wherein, the cornerwise intersection point of rectangle is deviateed in the position of GPS device 1.This
Sample using multiple anchor points 5, utilizes the various ways such as TOA, TDOA, RSSI, it is possible to realize the alignment system inside cruise, and
And the coordinate of coordinate system and GPS, using identical coordinate system, without being converted again, enhanced convenience is intuitive.
Long-range cruise monitoring system further includes the first R-T unit 2 for being set to cruise stern and is set to cruise fore
Second R-T unit 3, wherein the first R-T unit 2, the second R-T unit 3 and GPS device 1 are located on a projection plane with always
On line.First R-T unit 2 and the second R-T unit 3 are relative to known to the location information of GPS device 1.
GPS device 1 includes transmitter, and transmitter is sent out in moment ts to the first R-T unit 2 and the second R-T unit 3 simultaneously
Signal is penetrated, the first R-T unit 2 and the second R-T unit 3 are denoted as t1 and t2 respectively at the time of receiving signal.With reference to Fig. 3 institutes
Show, in the stationary case, for GPS device 1 after G points emit signal, the first R-T unit 2 or the second R-T unit 3 should for cruise
It is received when in P points, the distance of 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3 is respectively r1 and r2.
During navigation there is certain headway v however, as cruise, then can be an actually-received signal
Position there is certain deviation, such as at P ' points.P points and P ' then have certain displacement d, then by calculating
The headway v of cruise is obtained, while can calibration be compensated, in GPS to the position coordinates of anchor point 5 according to headway
During dropout, auxiliary positioning is carried out using the data of this compensation calibration, inertial navigation equipment, calibrating installation 4, first can also be received
2 and second R-T unit 3 of transmitting apparatus etc. compensates calibration, realizes seamless positioning.Specifically：
R=(t-ts)·c；
V=d/c；
Wherein, c is the light velocity, and b is the vertical range of 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3, a
For the vertical range of the first R-T unit 2 or the second R-T unit 3 apart from GPS device 1.In this way, it can be obtained by by calculating
The headway v of cruise.
Similar with the calculating process of the second R-T unit 3 based on the first R-T unit 2, principle is all shown in Fig. 3 such.
In practical position fixing process, cruise in the stationary case, 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3
Distance be respectively r1 and r2,1 distance of GPS device is b in the vertical range of the first R-T unit 2 and the second R-T unit 3, the
The vertical range of one R-T unit 2 and the second R-T unit 3 apart from GPS device 1 is respectively a1 and a2, and GPS device 1 and first is received
The measurement distance of 2 and second R-T unit 3 of transmitting apparatus is respectively R1 and R2, and d1 and d2 are respectively based on 2 He of the first R-T unit
The displacement that second R-T unit 3 is calculated, then for the first R-T unit 2：
R1=(t1-ts) c, R2=(t2-ts)·c；
For normal, the calculated value of d1 and d2 should be identical, but due to the presence of error, two values have partially
Difference, then in order to more objective, elimination fractional error enables d=(d1+d2The headway v=d/c of)/2, then cruise.
In this way, by finally can be obtained by the headway of cruise and the location information of cruise and utilize cruise
Headway information to cruise carry out location information compensation correction and when GPS signal is unavailable, utilize the boat of cruise
The auxiliary positioning of row velocity interpolation and auxiliary positioning for being carried out to the calibration of inertial navigation equipment and with inertial navigation equipment cooperation etc..
During practical monitoring, monitoring method sequence includes the following steps：
(1) in the case where cruise is static, initial calibration is carried out to cruise alignment system：
(1.1) emit signal to the first R-T unit and the second R-T unit, first in synchronization using transmitter to receive
Transmitting apparatus and the second R-T unit receive transmitting signal respectively, and at the time of record receives transmitting signal respectively；
(1.2) it calculates respectively relative to the transmitting signal moment of the first R-T unit and the second R-T unit and receives signal
The time difference at moment obtains the initial measurement distance of the first R-T unit and the second R-T unit and GPS device respectively；
(1.3) be respectively compared the first R-T unit, the known distance of the second R-T unit and GPS device and initial measurement away from
Difference between：If difference is zero, into next step, if difference is not zero, received based on difference adjustment first
Transmitting apparatus and the second R-T unit relative to GPS device position so that the first R-T unit, the second R-T unit and GPS are filled
The distance put is identical with known distance, return to step (1.1)；
(2) remote monitoring platform sends Location Request to cruise alignment system according to the period, judges that cruise alignment system is
No normal work：
A. cruise alignment system, which is sent, determines that information to remote monitoring platform, enters step (3)；Or
B. cruise alignment system determines information to remote monitoring platform or remote monitoring without sending within a certain period of time
Platform confirms that cruise is in an emergency, and remote monitoring platform forces to send positioning command to cruise alignment system；
(3) start to position, GPS device receives the satellite data from satellite, is obtained from after resolving by control processor
The coordinate G (x, y, z) of body；
(4) the coordinate G (x, y, z) based on GPS device, utilizes the first R-T unit and the second R-T unit and GPS device
Relative position information, obtain the position coordinates of the first R-T unit and the second R-T unit respectively；
(5) the headway v of cruise is obtained：
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and
Vertical range of second R-T unit apart from GPS device is respectively a1 and a2, and GPS device and the first R-T unit and second are received and dispatched
The measurement distance of device is respectively R1 and R2, and d1 and d2 are respectively to be calculated based on the first R-T unit and the second R-T unit
Displacement, calculation is as follows：
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2The headway v=d/c of)/2, then cruise；
(6) inertial guidance data of cruise is obtained using inertial nevigation apparatus, the headway v and the fortune of cruise that step (5) is obtained
Dynamic parameter is compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；If
It is unsatisfactory for, then correction is compensated to inertial nevigation apparatus；
(7) inertial guidance data is obtained based on inertial nevigation apparatus in real time, when meeting GPS positioning condition, is obtained using GPS device
Location information of the location information as cruise；When being unsatisfactory for GPS positioning condition, believe by the use of inertial guidance data as auxiliary positioning
Breath carries out resolving the location information for obtaining cruise with reference to the history location information that GPS device obtains；
(8) location information for sending cruise is stored to remote monitoring platform, and by location information and temporal information, real
When position shown, decide whether to be rescued according to actual conditions.
Although for illustrative purposes, it has been described that exemplary embodiments of the present invention, those skilled in the art
Member it will be understood that, can be in form and details in the case of the scope and spirit for not departing from invention disclosed in appended claims
On the change that carry out various modifications, add and replace etc., and all these changes should all belong to appended claims of the present invention
Protection domain, and each step in each department of claimed product and method, can be in any combination
Form is combined.Therefore, to disclosed in this invention the description of embodiment be not intended to limit the scope of the invention,
But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or
Its equivalent is defined.
Claims (7)
1. a kind of long-range cruise monitoring system, including cruise alignment system and remote monitoring platform, it is characterised in that：Cruise positions
System includes control processor and the GPS device being connect respectively with control processor, inertial nevigation apparatus, the first R-T unit, the
Two R-T units, calibrating installation, display device, radio transmitting device and the multiple anchor point；Plurality of anchor point, the first transmitting-receiving
Device and the relative position information of the second R-T unit and GPS device are it is known that the first R-T unit, the second R-T unit and GPS
Device is located along the same line on a projection plane, and vertical range of the calibrating installation apart from GPS device is sets at L, GPS device
Including transmitter；
Remote monitoring platform includes wireless transmitter and the server being connect respectively with wireless transmitter and monitoring end
End；
Radio transmitting device is connected with line R-T unit by Wi-Fi.
2. the system as claimed in claim 1, it is characterised in that：Anchor point, the first R-T unit and the second R-T unit and GPS are filled
The relative position information put is anchor point, the air line distance between the first R-T unit and the second R-T unit and GPS device, vertical
Distance and difference in height.
3. system as claimed in claim 1 or 2, it is characterised in that：The wireless network is GPRS, 3G, 4G and/or WIFI net
Network.
4. system as claimed in claim 1 or 2, it is characterised in that：The radio transmitting device and line R-T unit pass through nothing
The connection of gauze road is forwarded specifically by satellite to be communicated.
5. system as claimed in claim 1 or 2, it is characterised in that：Monitor terminal include display device, sound broadcasting device with
And data processing equipment.
6. a kind of monitoring method using such as the long-range cruise monitoring system of the claims 1-5 any one of them, feature
It is, sequentially includes the following steps：
(1) in the case where cruise is static, initial calibration is carried out to cruise alignment system：
(2) just whether remote monitoring platform sends Location Request to cruise alignment system according to the period, judge cruise alignment system
Often work：
A. cruise alignment system, which is sent, determines that information to remote monitoring platform, enters step (3)；Or
B. cruise alignment system determines information to remote monitoring platform or remote monitoring platform without sending within a certain period of time
Confirm that cruise is in an emergency, remote monitoring platform forces to send positioning command to cruise alignment system；
(3) start to position, GPS device receives the satellite data from satellite, itself is obtained after resolving by control processor
Coordinate G (x, y, z)；
(4) the coordinate G (x, y, z) based on GPS device, utilizes the phase of the first R-T unit and the second R-T unit and GPS device
To location information, the position coordinates of the first R-T unit and the second R-T unit are obtained respectively；
(5) the headway v of cruise is obtained：
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and second
Vertical range of the R-T unit apart from GPS device is respectively a1 and a2, GPS device and the first R-T unit and the second R-T unit
Measurement distance be respectively R1 and R2, d1 and d2 are respectively the position being calculated based on the first R-T unit and the second R-T unit
It moves, calculation is as follows：
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2The headway v=d/c of)/2, then cruise；
(6) inertial guidance data of cruise is obtained using inertial nevigation apparatus, the movement of headway v and cruise that step (5) is obtained are joined
Number is compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；It is if discontented
Foot, then compensate inertial nevigation apparatus correction；
(7) inertial guidance data is obtained based on inertial nevigation apparatus in real time, when meeting GPS positioning condition, utilizes the positioning of GPS device acquisition
Location information of the information as cruise；When being unsatisfactory for GPS positioning condition, by the use of inertial guidance data as auxiliary positioning information, tie
The history location information that GPS device obtains is closed to carry out resolving the location information for obtaining cruise；
(8) location information for sending cruise is stored to remote monitoring platform, and by location information and temporal information, real-time position
It puts and is shown, decide whether to be rescued according to actual conditions.
7. system as claimed in claim 6, it is characterised in that：The step (1) is specially：
(1.1) emit signal to the first R-T unit and the second R-T unit, the first transmitting-receiving dress in synchronization using transmitter
It puts and receives transmitting signal respectively with the second R-T unit, and at the time of record receives transmitting signal respectively；
(1.2) it calculates respectively relative to the transmitting signal moment of the first R-T unit and the second R-T unit and receives the signal moment
Time difference, obtain the initial measurement distance of the first R-T unit and the second R-T unit and GPS device respectively；
(1.3) the first R-T unit, the known distance of the second R-T unit and GPS device and initial measurement are respectively compared apart from it
Between difference：If difference is zero, into next step, if difference is not zero, based on difference adjustment the first transmitting-receiving dress
Put the position relative to GPS device with the second R-T unit so that the first R-T unit, the second R-T unit and GPS device
Distance is identical with known distance, return to step (1.1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810066117.8A CN108226984B (en) | 2018-01-23 | 2018-01-23 | A kind of long-range cruise monitoring system and its method |
Applications Claiming Priority (1)
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