CN108957029A - A kind of float technique survey river flow velocity method of LoRa wireless location - Google Patents
A kind of float technique survey river flow velocity method of LoRa wireless location Download PDFInfo
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- CN108957029A CN108957029A CN201810563008.7A CN201810563008A CN108957029A CN 108957029 A CN108957029 A CN 108957029A CN 201810563008 A CN201810563008 A CN 201810563008A CN 108957029 A CN108957029 A CN 108957029A
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- buoy
- flow velocity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/18—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the time taken to traverse a fixed distance
Abstract
The invention discloses a kind of float techniques of LoRa wireless location to survey river flow velocity method, is designed to the buoy for surveying river flow velocity, cross structure makes float stable is good to be not easy to be overturned by flowing water in water；LoRa module is able to achieve Millisecond timing, and is able to achieve low-power consumption Long-range Data Transmission.The data frame format of LoRa module is designed, the data frame packet contains two bytes, with timing and error correction; buoy position is determined by the base station of river two sides; according to the relationship of base station received signal intensity and signal transmission distance; calculate the distance between buoy and base station, determine buoy position further according to three-point fox method.The present invention is able to achieve the measurement of long-range, efficient, high-precision river flow velocity, saves manpower and to field complex environment and boisterous more adaptable, to keep river flow velocity measurement more efficient convenient.
Description
Technical field
The invention belongs to electronic information technical fields, and in particular to a kind of float technique survey river flow velocity of LoRa wireless location
Method.
Background technique
To carry out rivers flow monitoring, flood season flood control, hydrologic monitoring, agricultural irrigation etc., the water to rivers, open channel is often needed
Flow velocity measures.Currently used flow velocity mensuration has: float technique, color trace method, electrolyte pulse method etc..Float technique letter
It is single easy, but error is big；Color trace method can only carry out short distance measurement, otherwise can be difficult to observe because dyeing dilution agent；
Electrolyte pulse method obtains the mathematical model that saline solution migrates in water flow by modeling, then is fitted water discharge speed according to measurement result
Degree, only theoretical feasible practical application is also contemplated that the Multiple factors such as silt in water, water to this method.Have currently on the market by flow velocity
The portable water flow tachymeter of the compositions such as instrument, rotary propeller type flow sensor, signal connecting line, when use will in rotation paddle investment water,
Data are observed on current meter.Because connecting the limitation of line length, which needs personnel closely to operate, suitable for having
The occasions such as bridge, convenient or river two sides of navigating are easily accessible, but practical field environment complexity does not have the item of close-in measurement
Part, and when encounter blow, rain, the bad weathers such as Flooding when, which uses critical constraints.Therefore a kind of letter is needed
Single easy, high reliablity and the technology not limited by distance solve these problems.
Technology of Internet of things is able to achieve perception, intelligence, the interconnection of object, obtains important breakthrough in multiple fields.By Internet of Things
The thought of net all things on earth interconnection, present invention joint three-point fox method and LoRa on the basis of considering float technique convenience are wirelessly fixed
Position technology realizes remote, highly reliable river flow measurement.In view of WiFi, Bluetooth, ZigBee etc. can only be realized
The data of hundred meter levels are transmitted, and the present invention carries out wireless data transmission using LoRa technology, and actual measurement is farthest led in opening LoRa
Communication distance is up to 3km, and wireless transmission power consumption is 30mA, and it is only 10mA, it can be achieved that low-power consumption, remote biography that module, which receives power consumption,
It is defeated.
Summary of the invention
The object of the present invention is to provide a kind of float techniques of LoRa wireless location to survey river flow velocity method, solves existing method
It is big, poor for applicability to field complex environment and bad weather and the problem of need close-in measurement to survey river flow velocity error.
To achieve the above object the invention adopts the following technical scheme:
A kind of float technique survey river flow velocity method of LoRa wireless location, includes the following steps:
Step 1, the buoy of LoRa wireless location is designed
Buoy is designed as cross structure, buoy surrounding is installed with low-power consumption LED, in case of emergency night
Between launch and observation, buoy center install LoRa module, it is per second to base station send 1000 data packets, based on Millisecond
When；
Step 2, base station is established
A base station staggeredly is established every 50 meters in river two sides, vertical 4 base stations of building together, the section is river flow velocity monitoring
Section has transmitting and receiving antenna above base station, for receiving data between the data and base station that LoRa module is sent on buoy
Interaction, and collected remote data can be transmitted to monitoring center, these base stations are as anchor node in conjunction with three-point fox method
To determine the position of buoy；
Step 3, buoy is launched
A buoy is launched in river upstream, LoRa 1000 data of interior transmission per second on the buoy, i.e., 1 millisecond sends one
A data packet is used for timing, and the data of transmission are received by base station.
Step 4, data processing
LoRa module sends data with fixed energy, and being propagated in free space due to electric wave can be lossy, receives
Signal strength can change, and have certain relationship with distance, calculate buoy and each base station using relation formula between the two
Between distance, the real time position of buoy can be calculated in conjunction with three-point fix, and can obtain according to the data that LoRa is sent pair
The time answered can obtain corresponding river flow velocity divided by the time with distance.
The principle of step 4 three-point fox method is, it is known that the coordinate of three anchor nodes is respectively A (x1,y1)、B(x2,y2)、C
(x3,y3), the distance of nodes of locations to three anchor nodes A, B, C are respectively d1、d2、d3If unknown node coordinate is (xm,ym),
According to distance between two points formula, equation group shown in formula (1) is obtained, it may be assumed that
The coordinate of unknown node is solved by formula (1) are as follows:
Wherein d1、d2、d3It can be determined according to the method for detection received signal strength, the transmission power of LoRa module is certain,
The relationship of received signal strength and distance are as follows:
In formula (3), P is known quantity, and the signal strength of measured point is received for reference point；P0For reference point receive from away from
From d0The signal strength of transmission, the signal strength are also known；
N is environmental factor, according to actual application environment dynamic corrections；
D is the distance between reference point and measured point, i.e., amount to be calculated.
The design of buoy in step 1, is designed as cross structure for buoy, and the stability of the design is good, even if water flow is very
It is anxious also to prevent buoy from being overturned by water flow well.Buoy surrounding is installed with low-power consumption LED, convenient in case of emergency night
Between launch and observation.Buoy center is installed by LoRa module, 1000 data packets of transmission per second, it is assumed that river flow velocity 10m/
S, then 10/1000=0.01, dimension m, i.e., the measurement accuracy of the buoy is 0.01m under this assumption, significantly larger than existing
There is achievable precision, improves the accuracy of measurement.
The data frame format that LoRa module is sent in step 1 is as shown in table 1:
1 data frame format of table
Because 1000 data of transmission per second, successively send from 1 to 1000, greatest measure is 1000 corresponding binary numbers
It is 1111101000, occupies ten bits, because hereafter ten is used as numeration position.It marches forward after 1 second one, with two
Bit stores, i.e. note second position can be remembered 4 seconds, in buoy investment water after, if be all not received by within 4 seconds data be believed that it is floating
Mark breaks down, and needs to launch buoy again.In view of having corrupt data in data transmission procedure, first four as verification
Position is verified using the method for verification sum, if the data packet error being calculated, discards the data packet.Because of data
What packet was sent is continuous 1 to 1000, therefore interpolation method can be used and carry out interpolation to the data packet lost in discarding or transmission
Supplement ensures the correctness and continuity of data transmission.
In step 4, using the last one base station of downstream as coordinate origin when data processing, then other base stations can be determined
Coordinate.Buoy is floated from upstream, first passes through the base station of upstream, and the signal strength received apart from close base station is strong, with it
In 3 strongest base stations of reception signal, as known coordinate used for positioning.With the movement of buoy base station used for positioning
Change therewith, indicates that this time measurement terminates when buoy is driven out to detection section, and cannot position using three anchor nodes.By four bases
The data summarization stood carries out processing again can be obtained river flow velocity.
The invention has the following advantages that
1. traditional float technique is to calculate being separated by fixed point distance manually with manual time-keeping according to linear distance.But it is practical floating
Target movement is influenced by various factors, and track is not straight line, i.e., calculating distance can have error with actual range, is added
It is upper to will cause timing error by eye-observation timing, therefore traditional float technique error is larger.The present invention answers LoRa wireless location
It is measured for river flow velocity, measurement accuracy can be made to greatly improve in millisecond timi requirement and timing.
Low-power consumption, the transmission of remote information may be implemented in 2.LoRa, and monitoring personnel does not have in real time closely after launching buoy
The movement of buoy is observed, data can be uploaded to base station automatically, realize remote intelligent monitoring.
3. present invention saves manpowers, and more adaptable under field complex environment and bad weather, using model
It encloses wider.
Detailed description of the invention
Fig. 1 is that the float technique of LoRa wireless location of the present invention surveys river flow velocity system schematic；
Fig. 2 is that the buoy of LoRa wireless location of the present invention designs；
Fig. 3 is three-point fox method schematic diagram in the present invention；
Fig. 4 is selection of the present invention with the mobile three-point fox method anchor node of buoy.
Specific embodiment
The present invention is further elaborated in the following with reference to the drawings and specific embodiments.
A kind of float technique of LoRa wireless location of the present invention surveys river flow velocity method, is specifically implemented according to the following steps:
Step 1, the buoy of LoRa wireless location is designed
As shown in Fig. 2, buoy is designed as cross structure, the stability of the design is good, can be very water flow is very anxious
Prevent buoy from being overturned by water flow well.Buoy surrounding is installed with low-power consumption LED, convenient in case of emergency night launch with
Observation.LoRa module is installed in buoy center, per second to send 1000 data packets to base station, plays the work of Millisecond timing
With.
Step 2, base station is established
As shown in Figure 1, staggeredly establishing a base station every 50 meters in river two sides, segment length is detected in vertical 4 base stations of building together
It is 150 meters total.There are transmitting and receiving antenna above base station, for receiving on buoy between the data and base station of the transmission of LoRa module
The interaction of data, and collected remote data can be transmitted to monitoring center.Furthermore these base stations as anchor node in conjunction with
Three-point fox method determines the position of buoy.
Step 3, buoy is launched
A buoy is launched in river upstream, LoRa 1000 data of interior transmission per second on the buoy, i.e., 1 millisecond sends one
A data packet, plays the role of timing, and the data of transmission are received by base station.
Step 4, data processing
LoRa module sends data with fixed energy, and being propagated in free space due to electric wave can lossy, the loss
To radio wave propagation distance it is related, therefore can calculate buoy between each base station at a distance from, can be calculated in conjunction with three-point fix
The real time position of buoy.And the corresponding time can be obtained according to the data that LoRa is sent, can be obtained with distance divided by the time
Corresponding river flow velocity.
The principle of three-point fox method is, it is known that the coordinate of three anchor nodes is respectively A (x1,y1)、B(x2,y2)、C(x3,
y3), the distance of nodes of locations to three anchor nodes A, B, C are respectively d1、d2、d3If unknown node coordinate is (xm,ym), according to
Equation group shown in formula (1) can be obtained in distance between two points formula, it may be assumed that
The coordinate of unknown node is solved by formula (1) are as follows:
Wherein d1、d2、d3It can be determined according to the method for detection received signal strength, the transmission power of LoRa module is certain,
The relationship of received signal strength and distance are as follows:
In formula (3), P is known quantity, and the signal strength of measured point is received for reference point；
P0 is that reference point receives the signal strength sent from distance d0, which is also known；
N is environmental factor (being also modifying factor), to consider actual application environment dynamic corrections；
D is the distance between reference point and measured point, i.e., amount to be calculated.
In conjunction with Fig. 1 using D point as coordinate origin, i.e., (0,0), if river width is constant k, then 3 coordinates of A, B, C are distinguished
For (k, 150), (k, 50), (0,100), then the d that will be obtained by formula 31、d2、d3Buoy can be calculated by bringing formula (2) into
Real time position, while sending monitoring center for the clocking information that location information and LoRa module are sent and calculating river flow velocity.
As shown in Figure 3,4, buoy floats to downstream from upstream, can pass through A node first because with B, C, D node away from
From remote, electric wave is bigger in the biography wave loss of free space, and received signal strength is opposite with wherein distance by A node with regard to smaller
Anchor section of closer B, C node as three-point fix.With being moved away under buoy, A node is more and more remoter, increasingly from D node
Closely, at this time using B, C, D node as anchor node.When buoy is more and more remoter, the reception of the farthest node of distance is believed in three anchor nodes
It is number very weak, three-point fix cannot be realized again, then it represents that buoy is driven out to measured zone, this end of testing the speed.
The above is present pre-ferred embodiments, for the ordinary skill in the art, according to the present invention
Introduction, in the case where not departing from the principle of the present invention and spirit, changes, modifications, replacement and change that embodiment is carried out
Type is still fallen within protection scope of the present invention.
Claims (2)
1. a kind of float technique of LoRa wireless location surveys river flow velocity method, which comprises the steps of:
Step 1, the buoy of LoRa wireless location is designed
Buoy is designed as cross structure, buoy surrounding is installed with low-power consumption LED, throws in case of emergency night
It puts and observes, LoRa module is installed in buoy center, and it is per second to send 1000 data packets to base station, it is used for Millisecond timing；
Step 2, base station is established
A base station staggeredly is established every 50 meters in river two sides, vertical 4 base stations of building together, the section is river flow velocity monitoring section, base
There are transmitting and receiving antenna above standing, for receiving the interaction of data between the data and base station of the transmission of LoRa module on buoy,
And collected remote data can be transmitted to monitoring center, these base stations are determined as anchor node in conjunction with three-point fox method
The position of buoy；
Step 3, buoy is launched
A buoy, LoRa 1000 data of interior transmission per second on the buoy, i.e., 1 millisecond transmission, one number are launched in river upstream
It is used for timing according to packet, the data of transmission to be received by base station.
Step 4, data processing
LoRa module sends data with fixed energy, and being propagated in free space due to electric wave can lossy, the letter received
Number intensity can change, and have certain relationship with distance, be calculated between buoy and each base station using relation formula between the two
Distance can calculate the real time position of buoy in conjunction with three-point fix, and can be obtained according to the data that LoRa is sent corresponding
Time can obtain corresponding river flow velocity divided by the time with distance.
2. a kind of float technique of LoRa wireless location according to claim 1 surveys river flow velocity method, which is characterized in that
The principle of step 4 three-point fox method is, it is known that the coordinate of three anchor nodes is respectively A (x1,y1)、B(x2,y2)、C(x3,
y3), the distance of nodes of locations to three anchor nodes A, B, C are respectively d1、d2、d3If unknown node coordinate is (xm,ym), according to
Distance between two points formula obtains equation group shown in formula (1), it may be assumed that
The coordinate of unknown node is solved by formula (1) are as follows:
Wherein d1、d2、d3It can be determined according to the method for detection received signal strength, the transmission power of LoRa module is certain, receives
The relationship of signal strength and distance are as follows:
In formula (3), P is known quantity, and the signal strength of measured point is received for reference point；P0 is that reference point is received from distance d0
The signal strength of transmission, the signal strength are also known；
N is environmental factor, according to actual application environment dynamic corrections；
D is the distance between reference point and measured point, i.e., amount to be calculated.
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| CN201810563008.7A CN108957029A (en) | 2018-06-04 | 2018-06-04 | A kind of float technique survey river flow velocity method of LoRa wireless location |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110411474A (en) * | 2019-07-22 | 2019-11-05 | 杭州沃朴物联科技有限公司 | Step-recording method, equipment, medium, device, chicken board and management system for breeding |
| CN115103318A (en) * | 2022-08-24 | 2022-09-23 | 江西怡杉环保股份有限公司 | Multi-node online monitoring method and system |
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| CN102507972A (en) * | 2011-09-22 | 2012-06-20 | 中交第三航务工程勘察设计院有限公司 | Surface velocity and flow direction measuring device |
| CN206302423U (en) * | 2017-01-04 | 2017-07-04 | 路永明 | A kind of remote measurement flow velocity acquisition system based on LoRa technologies |
Non-Patent Citations (1)
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| 唐周益丹 等: "基于LoRa的长距离室内定位的研究", 《计算机应用与软件》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110411474A (en) * | 2019-07-22 | 2019-11-05 | 杭州沃朴物联科技有限公司 | Step-recording method, equipment, medium, device, chicken board and management system for breeding |
| CN115103318A (en) * | 2022-08-24 | 2022-09-23 | 江西怡杉环保股份有限公司 | Multi-node online monitoring method and system |
| CN115103318B (en) * | 2022-08-24 | 2022-11-01 | 江西怡杉环保股份有限公司 | Multi-node online monitoring method and system |
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Application publication date: 20181207 |