CN109104692A - Multilink wireless communication network system - Google Patents

Multilink wireless communication network system Download PDF

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Publication number
CN109104692A
CN109104692A CN201811238212.8A CN201811238212A CN109104692A CN 109104692 A CN109104692 A CN 109104692A CN 201811238212 A CN201811238212 A CN 201811238212A CN 109104692 A CN109104692 A CN 109104692A
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China
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station
monitoring
module
wireless communication
monitoring station
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CN201811238212.8A
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Chinese (zh)
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CN109104692B (en
Inventor
汪波
汪俊
朱世芳
苏满全
何龙
陆建峰
刘开治
祁国军
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SHANGHAI DAHUA SURVEY CO Ltd
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SHANGHAI DAHUA SURVEY CO Ltd
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Priority to CN201811238212.8A priority Critical patent/CN109104692B/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • H04W88/06—Terminal devices adapted for operation in multiple networks or having at least two operational modes, e.g. multi-mode terminals
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The present invention provides a kind of multilink wireless communication network systems, the multilink wireless communication network system is included: wireless communication module and is established master station, the monitoring station of communication each other based on wireless communication module, and master station and monitoring station include GNSS board and processor；Wherein, Lora module, ZigBee module and 4G module are integrated in wireless communication module；The monitoring pattern of monitoring station can be arranged to RTK station-keeping mode or static monitoring techniques mode, the mode that processor is arranged according to the currently monitored station, it executes and is stored in computer program corresponding with the mode of the currently monitored station setting in processor, to realize the switching of wireless communication mode and data transmission between master station, monitoring station.The present invention effectively merges these three wireless communication modes of Lora, ZigBee, 4G, realize that the intelligence for corresponding to wireless communication mode under the currently monitored mode switches based on the computer program stored in processor is executed, communication need when also meeting more monitoring patterns at the same time while carrying out.

Description

Multilink wireless communication network system
Technical field
The present invention relates to communication technique field, in particular to a kind of multilink wireless communication network system.
Background technique
Along with the development of Technique of Satellite Navigation and Positioning and the fast lifting of positioning accuracy, satellite positioning tech has been applied To the every field of engineering construction.For normal construction and the safe operation for guaranteeing engineering project, many large size key projects are built Independent deformation monitoring and early warning system are found.Existing monitoring technology lays monitoring point mainly for structural body and disposes precision Positioning device sends data to master by necessary communication modes by positioning device timing acquiring monitoring location data Control station.Master station completes the deformation monitoring process to project subject by processing, modeling, analysis, the forecast to monitoring data. Wherein positioning device mainly uses static measurement and real-time carrier phase difference technology (Real-time kinematic, RTK), Static data and RTK data are required to be back to master station by means of communication.
Current deformation measurement data transmission is broadly divided into wire communication and wireless telecommunications, and wire communication is by geogen Limitation is big, and the engineerings such as general road and bridge, fill regulation are remote, if it is too big to be laid with special cable cost, uses channel radio at this time News mode is implemented convenient for monitoring；Because monitoring works position is excessively remote, can also there be the case where mobile network blind area, need to borrow at this time Other wireless communication modes are helped to complete data transmission.
Referring to FIG. 1, its structural schematic diagram for wireless communication system in existing deformation monitoring engineering.Such as Fig. 1 institute Show, the wireless communication system includes that several static monitoring techniques terminals (it is whole to specifically include static monitoring techniques terminal a1, static monitoring techniques End a2, static monitoring techniques terminal a3 ...), a master station, several RTK monitoring terminal (specifically include RTK monitoring terminal b1, RTK prison Survey terminal b2, RTK monitoring terminal b3 ...), several static monitoring techniques terminals are based on 4G/ZigBee network and master station carries out The interaction of data and/or instruction；Several RTK monitoring terminal is based on 4G/ZigBee network and master station carry out data and/or The interaction of instruction；The master station carries out the transmitting of RTK differential data based on Lora network and RTK monitoring terminal.It is described wireless Communication network system includes RTK station-keeping mode and static monitoring techniques mode both of which；Wherein, RTK station-keeping mode: master station (base Quasi- station) differential correcting data are sent out in monitoring station by Lora network, terminal is then monitored by the positioning after differential correcting As a result master station is transmitted back to by 4G/ZigBee network again；Static monitoring techniques mode: master station will be supervised by 4G/ZigBee network The control instructions such as survey mode, data sampling frequency, period are sent to monitoring station, and monitoring station requires to carry out static work according to instruction Industry carries out communication pretreatment through processor after data acquisition, by 4G/ZigBee network send data back to master station into Row processing.
Different monitoring works require the precision, frequency, timeliness of monitoring different.Under normal conditions, static monitoring techniques mould Formula ratio RTK mode precision is high, but RTK station-keeping mode based on RTK technology there is the advantage that positions in real time；And static monitoring techniques mode The initial data at least needing to acquire dozens of minutes, positioning knot can just be obtained by being back to master station end through resolving software post-processing Fruit totally takes a long time.Especially when monitoring works need static monitoring techniques while also to carry out RTK positioning, single is wireless Communication mode can not meet effective mutual biography of two kinds of monitoring data simultaneously.
Summary of the invention
The purpose of the present invention is to provide a kind of multilink wireless communication network system, with solve using in the prior art without The problem of monitoring data that line communication network system can not meet two kinds of monitoring patterns simultaneously effectively mutually pass.
In order to solve the above technical problems, the present invention provides a kind of multilink wireless communication network system, it is suitable for deformation prison Engineering is surveyed, the multilink wireless communication network system includes: wireless communication module and is based on the wireless communication module each other Establish master station, the monitoring station of communication；Wherein, the master station and the monitoring station include GNSS board and processor；Institute It states and is integrated with Lora module, ZigBee module and 4G module in wireless communication module；The monitoring pattern of the monitoring station can be set It is set to RTK station-keeping mode or static monitoring techniques mode, the GNSS board is used for the acquisition of location data；Monitor station processor according to The mode of the currently monitored station setting, execution are stored in corresponding with the mode of the currently monitored station setting in the monitoring station processor Computer program, to realize the switching of wireless communication mode and data transmission between the master station, the monitoring station.
Optionally, in the multilink wireless communication network system, the monitoring pattern at the currently monitored station is arranged to When RTK station-keeping mode, communication process is as follows between the master station, the monitoring station:
Control instruction is sent to monitoring station by 4G module or ZigBee module by master station, and the control instruction is at least wrapped Include the monitoring pattern, data sampling frequency and period of current setting；
Master station, by differential data broadcast transmission to monitoring station, is connect by Lora module by 4G module or ZigBee module Receive the RTK positioning result from monitoring station；
Monitoring station receives the control instruction from master station by 4G module or ZigBee module, and monitoring station processor passes through Serial ports configures monitoring station GNSS board, realizes the data acquisition configuration under monitoring station RTK station-keeping mode；
Monitoring station receives the differential correcting data from master station by Lora module, and the differential correcting data are by master control It stands through Lora module transfer to monitoring station；
The differential correcting data are converted and correct the RTK positioning result of monitoring station by monitoring station；
Revised RTK positioning result is fed back to master station by 4G module or ZigBee module by monitoring station.
Optionally, in the multilink wireless communication network system, the monitoring pattern at the currently monitored station is arranged to When static monitoring techniques mode, communication process is as follows between the master station, the monitoring station:
Control instruction is sent to monitoring station by 4G module or ZigBee module by master station, and the control instruction is at least wrapped Include the monitoring pattern, data sampling frequency and period of current setting；
Master station receives the static data from monitoring station by 4G module or ZigBee module；
Monitoring station receives the control instruction from master station by 4G module or ZigBee module, and monitoring station processor passes through Serial ports configures monitoring station GNSS board, realizes the data acquisition configuration under monitoring station static monitoring techniques mode；
Static data collected is transmitted to monitoring station processor by USB by monitoring station GNSS board；
Monitoring station processor carries out communication pretreatment to the static data, and static data passes through 4G mould by treated Block or ZigBee module feed back to master station, to update the static data in the master station.
Optionally, in the multilink wireless communication network system, the wireless communication mode is Lora, ZigBee Or 4G mode.
Optionally, in the multilink wireless communication network system, the master control station processor and the monitoring station Processor is MCU.
Optionally, described to monitor the calculating stored in station processor in the multilink wireless communication network system Machine program is performed the file division, format conversion and/or encoding operation also realized to wireless communication data.
Optionally, in the multilink wireless communication network system, the quantity of the monitoring station is multiple, Suo Youjian The monitoring pattern of any two monitoring station is identical or different in survey station.
In multilink wireless communication network system provided by the present invention, the multilink wireless communication network system packet It includes: wireless communication module and master station, the monitoring station for establishing communication each other based on the wireless communication module；Wherein, the master Control station and the monitoring station include GNSS board and processor；Be integrated in the wireless communication module Lora module, ZigBee module and 4G module；The monitoring pattern of the monitoring station can be arranged to RTK station-keeping mode or static monitoring techniques mode, institute Acquisition of the GNSS board for location data, the mode that monitoring station processor is arranged according to the currently monitored station are stated, execution is stored in Computer program corresponding with the mode of the currently monitored station setting in the monitoring station processor, to realize the master station, institute State the switching of wireless communication mode and data transmission between monitoring station.Multilink wireless communication network system of the invention it is wireless Due to being integrated with Lora module, ZigBee module and 4G module in communication module, effectively by these three nothings of Lora, ZigBee, 4G The fusion of line communication mode corresponds to channel radio under the currently monitored mode based on executing the computer program stored in processor and realizing The intelligence switching of news mode, communication need when also meeting more monitoring patterns at the same time while carrying out.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of wireless communication system in existing deformation monitoring engineering；
Fig. 2 is the synthetic operation figure of multilink wireless communication network system in one embodiment of the invention.
Specific embodiment
Multilink wireless communication network system proposed by the present invention is made below in conjunction with the drawings and specific embodiments further It is described in detail.According to following explanation and claims, advantages and features of the invention will be become apparent from.It should be noted that attached drawing It is all made of very simplified form and uses non-accurate ratio, only to convenient, lucidly the aid illustration present invention is implemented The purpose of example.
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from Various modifications or alterations are carried out under spirit of the invention.It should be noted that diagram provided in the present embodiment is only with signal Mode illustrates basic conception of the invention, then in schema only display with related component in the present invention rather than when according to actual implementation Component count, shape and size draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind Become, and its assembly layout kenel may also be increasingly complex.
The certain terms for indicating particular system components have been used throughout specification and claims.Such as the technology of this field What personnel will be understood that, different company may indicate a component with different titles.But function different in title is not expected herein It is distinguished between identical component.In the specification and in the claims, term " includes " and "comprising" press open side Formula uses, and therefore should be interpreted " including, but are not limited to ... ".
As shown in the application and claims, unless context clearly prompts exceptional situation, " one ", "one", " one The words such as kind " and/or "the" not refer in particular to odd number, may also comprise plural number.It is, in general, that term " includes " only prompts to wrap with "comprising" Include clearly identify the step of and element, and these steps and element do not constitute one it is exclusive enumerate, method or apparatus The step of may also including other or element.
In addition, each embodiment of following description is respectively provided with one or more technical characteristics, so this is not meant to It must implement all technical characteristics in any embodiment simultaneously using present inventor, or be only capable of being performed separately in different embodiments One or all technical characteristic.In other words, under the premise of being embodied as possible, those skilled in the art can be according to the present invention Disclosure, and regard design specification or implementation demand, it is special selectively to implement all or part of technology in any embodiment Sign, or selectively implement the combination of all or part of technical characteristic in multiple embodiments, increase the present invention whereby and implements When elasticity.
To be clearer and more comprehensible the purpose of the present invention, feature, a specific embodiment of the invention is made with reference to the accompanying drawing Further instruction, however, the present invention can be realized with different forms, it is not considered that being only confined to the embodiment described.
Referring to FIG. 2, it is the synthetic operation figure of multilink wireless communication network system of the invention.As shown in Fig. 2, institute Multilink wireless communication network system is stated to include: wireless communication module and establish communication each other based on the wireless communication module Master station, monitoring station；Wherein, the master station and the monitoring station include GNSS board and processor；The wireless telecommunications Lora module, ZigBee module and 4G module are integrated in module；The monitoring pattern of the monitoring station can be arranged to RTK positioning Mode or static monitoring techniques mode；The master station and the monitoring station are provided with GNSS board and processor, the GNSS plate Card is used for the acquisition of location data, mode (i.e. RTK station-keeping mode or the static state that monitoring station processor is arranged according to the currently monitored station Monitoring pattern), it executes and is stored in computer program corresponding with the mode of the currently monitored station setting in the monitoring station processor, To realize that wireless communication mode between the master station, the monitoring station (corresponds to Lora module, ZigBee module and 4G mould Block, wireless communication mode are respectively Lora, ZigBee and 4G) switching and data transmission (static data and RTK positioning result). It is configured with control unit (processor) in the monitoring station, the communication for the acquired data in monitoring station pre-processes.
Multilink wireless communication network system of the invention has a variety of wireless communication modes, can satisfy different scenes Communication need.As follows from technological layer explanation reasons, Lora or ZigBee technology communication distance are different, and power consumption is in different size. It does not know, in the limited situation of power reservoir capacity in monitoring range especially, just wireless telecommunications is wanted apart from efficiency, power consumption ability Ask different.Lora and ZigBee mode have irreplaceable communication advantage in the monitoring region of no 4G signal.And 4G mode Efficiency of transmission is high, power consumption is big, especially has very big communication advantage to the passback of data volume biggish static data.A variety of nothings Line communication mode and deposit, effectively improve monitoring systematic difference generalization.
Master station in the multilink wireless communication network system of the present embodiment can synchronize reception from different monitoring works Static monitoring techniques or RTK data.It is mainly smart for monitoring according to different monitoring works for the selection of the monitoring pattern of monitoring station Degree, frequency and/or timeliness require to be selected.Usual high-precision monitoring works generally use static monitoring techniques mode, and supervise It surveys the monitoring works that required precision is Centimeter Level and uses RTK station-keeping mode.
Master station in the present invention can select different wireless communication modes to carry out data transmission according to data transfer demands, For example, static data, RTK data, control instruction response using the reception of ZigBee or 4G wireless communication mode from monitoring station Etc. information；In addition, also transmitting differential data using Lora wireless communication mode.In other words, multilink wireless of the invention communication Network system is by effectively solving computer process control in the synthetic operation of Lora, ZigBee, 4G technology and execution processor It has determined more monitoring patterns and in the case where depositing, master station can not meet different data biography by single wireless communication mode simultaneously The problem of defeated demand.
Specifically, when the monitoring pattern at the currently monitored station is arranged to RTK station-keeping mode, the master station, the monitoring Communication process is as follows between standing:
Control instruction is sent to monitoring station by 4G module or ZigBee module by master station, and the control instruction is at least wrapped Include the monitoring pattern, data sampling frequency and period of current setting；
Master station, by differential data broadcast transmission to monitoring station, is connect by Lora module by 4G module or ZigBee module Receive the RTK positioning result from monitoring station；
Monitoring station receives the control instruction from master station by 4G module or ZigBee module, and monitoring station processor passes through Serial ports configures GNSS board, realizes the data acquisition configuration under monitoring station RTK station-keeping mode；
Monitoring station receives the differential correcting data from master station by Lora module, and the differential correcting data are by master control It stands through Lora module transfer to monitoring station；
The differential correcting data are converted and correct the RTK positioning result of monitoring station by monitoring station；
Revised RTK positioning result is fed back to master station by 4G module or ZigBee module by monitoring station.
When the monitoring pattern at the currently monitored station is arranged to static monitoring techniques mode, between the master station, the monitoring station Communication process is as follows:
Control instruction is sent to monitoring station by 4G module or ZigBee module by master station, and the control instruction is at least wrapped Include the monitoring pattern, data sampling frequency and period of current setting；
Master station receives the static data from monitoring station by 4G module or ZigBee module；
Monitoring station receives the control instruction from master station by 4G module or ZigBee module, and monitoring station processor passes through Serial ports configures GNSS board, realizes the data acquisition configuration under monitoring station static monitoring techniques mode；
Static data collected is transmitted to monitoring station processor by USB by monitoring station GNSS board；
Monitoring station processor carries out communication pretreatment to the static data, and static data passes through 4G mould by treated Block or ZigBee module feed back to master station, to update the static data in the master station.
Preferably, the master control station processor and the monitoring station processor are MCU；It is deposited in the monitoring station processor The computer program of storage is performed the file division, format conversion and/or encoding operation also realized to wireless communication data.
In the present embodiment, the quantity of the monitoring station is multiple, the monitoring mould of any two monitoring station in all monitoring stations Formula is identical or different.
To sum up, in multilink wireless communication network system provided by the present invention, the multilink wireless communication network System is included: wireless communication module and is established master station, the monitoring station of communication each other based on the wireless communication module；Wherein, Master station and monitoring station include GNSS board and processor；Lora module, ZigBee are integrated in the wireless communication module Module and 4G module；The monitoring pattern of the monitoring station can be arranged to RTK station-keeping mode or static monitoring techniques mode, the GNSS Board is used for the acquisition of location data；Station processor is monitored according to the mode of the currently monitored station setting, execution is stored in the prison Computer program corresponding with the mode of the currently monitored station setting in survey station processor, to realize the master station, the monitoring The switching of wireless communication mode between standing.Due to collection in the wireless communication module of multilink wireless communication network system of the invention At having Lora module, ZigBee module and 4G module, effectively these three wireless communication modes of Lora, ZigBee, 4G are merged, base Realize that the intelligence for corresponding to wireless communication mode under the currently monitored mode switches in executing the computer program stored in processor, Communication need when also meeting more monitoring patterns at the same time while carrying out.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims Range.

Claims (7)

1. a kind of multilink wireless communication network system is suitable for deformation monitoring engineering characterized by comprising wireless telecommunications Module and master station, the monitoring station for establishing communication each other based on the wireless communication module；Wherein, the master station and the prison Survey station includes GNSS board and processor；Lora module, ZigBee module and 4G mould are integrated in the wireless communication module Block；The monitoring pattern of the monitoring station can be arranged to RTK station-keeping mode or static monitoring techniques mode, and the GNSS board is for fixed The acquisition of position data, monitoring station processor execute according to the mode of the currently monitored station setting and are stored in the monitoring station processor In with the corresponding computer program of mode of the currently monitored station setting, it is wireless between the master station, the monitoring station to realize The switching of communication mode and data transmission.
2. multilink wireless communication network system as described in claim 1, which is characterized in that the monitoring pattern at the currently monitored station When being arranged to RTK station-keeping mode, communication process is as follows between the master station, the monitoring station:
Control instruction is sent to monitoring station by 4G module or ZigBee module by master station, and the control instruction, which includes at least, to be worked as Monitoring pattern, data sampling frequency and the period of preceding setting；
Master station by Lora module by differential data broadcast transmission to monitoring station, by 4G module or ZigBee module receive come RTK positioning result from monitoring station；
Monitoring station receives the control instruction from master station by 4G module or ZigBee module, and monitoring station processor passes through serial ports Monitoring station GNSS board is configured, realizes the data acquisition configuration under monitoring station RTK station-keeping mode；
Monitoring station receives the differential correcting data from master station by Lora module, and the differential correcting data are led to by master station Lora module transfer is crossed to monitoring station；
The differential correcting data are converted and correct the RTK positioning result of monitoring station by monitoring station；
Revised RTK positioning result is fed back to master station by 4G module or ZigBee module by monitoring station.
3. multilink wireless communication network system as described in claim 1, which is characterized in that the monitoring pattern at the currently monitored station When being arranged to static monitoring techniques mode, communication process is as follows between the master station, the monitoring station:
Control instruction is sent to monitoring station by 4G module or ZigBee module by master station, and the control instruction, which includes at least, to be worked as Monitoring pattern, data sampling frequency and the period of preceding setting；
Master station receives the static data from monitoring station by 4G module or ZigBee module；
Monitoring station receives the control instruction from master station by 4G module or ZigBee module, and monitoring station processor passes through serial ports Monitoring station GNSS board is configured, realizes the data acquisition configuration under monitoring station static monitoring techniques mode；
Static data collected is transmitted to monitoring station processor by USB by monitoring station GNSS board；
Monitoring station processor carries out communication pretreatment to the static data, and will treated static data by 4G module or ZigBee module feeds back to master station, to update the static data in the master station.
4. multilink wireless communication network system as described in claim 1, which is characterized in that the wireless communication mode is Lora, ZigBee or 4G mode.
5. multilink wireless communication network system as described in claim 1, which is characterized in that the master control station processor and institute Stating monitoring station processor is MCU.
6. multilink wireless communication network system as claimed in claim 5, which is characterized in that deposited in the monitoring station processor The computer program of storage is performed the file division, format conversion and/or encoding operation also realized to wireless communication data.
7. such as multilink wireless communication network system according to any one of claims 1 to 6, which is characterized in that the monitoring The quantity stood be it is multiple, the monitoring pattern of any two monitoring station is identical or different in all monitoring stations.
CN201811238212.8A 2018-10-23 2018-10-23 Multilink wireless communication network system Active CN109104692B (en)

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CN110536233A (en) * 2019-08-05 2019-12-03 东华大学 A kind of real-time unmanned plane supervisory systems
CN112822629A (en) * 2021-01-08 2021-05-18 厦门求同信息科技有限公司 Dynamic monitoring and communication system for small ships

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CN107422339A (en) * 2017-08-03 2017-12-01 千寻位置网络有限公司 Support the deformation monitoring sensor of remote control
CN107515412A (en) * 2016-06-16 2017-12-26 南京科博空间信息科技有限公司 A kind of special GNSS receiver of CORS value-added services
CN207896964U (en) * 2018-03-06 2018-09-21 广西电网有限责任公司来宾供电局 A kind of satellite difference location data transceiver terminal

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Publication number Priority date Publication date Assignee Title
CN102354431A (en) * 2011-08-06 2012-02-15 河北省第一测绘院 Monitoring and prewarning system and method for geological disasters
CN104111464A (en) * 2014-07-04 2014-10-22 安徽理工大学 Ground surface movement and deformation automation monitoring system for exploitation of coal mine
CN107515412A (en) * 2016-06-16 2017-12-26 南京科博空间信息科技有限公司 A kind of special GNSS receiver of CORS value-added services
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Publication number Priority date Publication date Assignee Title
CN110536233A (en) * 2019-08-05 2019-12-03 东华大学 A kind of real-time unmanned plane supervisory systems
CN112822629A (en) * 2021-01-08 2021-05-18 厦门求同信息科技有限公司 Dynamic monitoring and communication system for small ships
CN112822629B (en) * 2021-01-08 2024-03-29 厦门求同信息科技有限公司 Dynamic monitoring and communication system for small ship

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