CN109856639A - The positioning of Yangtze finless porpoise passive sonar and tracing system and method based on Internet of Things - Google Patents

The positioning of Yangtze finless porpoise passive sonar and tracing system and method based on Internet of Things Download PDF

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CN109856639A
CN109856639A CN201910148446.1A CN201910148446A CN109856639A CN 109856639 A CN109856639 A CN 109856639A CN 201910148446 A CN201910148446 A CN 201910148446A CN 109856639 A CN109856639 A CN 109856639A
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finless porpoise
signal
information
black finless
black
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CN109856639B (en
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胡浪涛
王广军
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Anqing Normal University
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Abstract

A kind of positioning of Yangtze finless porpoise passive sonar and tracing system based on Internet of Things provided by the present invention, comprising: buoy monitoring device layer, positioning and tracked information management level, information transfer;Buoy monitoring device layer is for acquiring front end data and being handled;Buoy monitoring device layer includes more set buoy monitoring devices, and every set buoy monitoring device constitutes a black finless porpoise location tracking monitoring point;Positioning and tracked information management level are for receiving information, processing information, analysis information, storage information;Information transfer is realized wireless networking communications networking and is carried out the transmission of data using LoRa mode.The present invention can be acquired Yangtze finless porpoise Sonar Signal; and record Yangtze finless porpoise real-time activity situation; and corresponding hydrology-water quality situation is recorded, data are provided and are supported for black finless porpoise protection and research, this system low-power consumption, sustainable work, accuracy be high, easy to use and safeguard.

Description

The positioning of Yangtze finless porpoise passive sonar and tracing system and method based on Internet of Things
Technical field
The present invention relates to the automatic control technology field more particularly to a kind of positioning based on Internet of Things in Internet of Things and chase after Track system.
Background technique
Yangtze finless porpoise is the fresh water Small cetaceans animal that China is rare, in imminent danger, population quantity about 1040, is distributed only over The middle and lower reach of Yangtze River and its Poyang Lake and Dongting Lake adjoined, 2014 by the species viability committee, World Conservation Union (IUCN) it is classified as pole danger species (CR).Due to mankind's activity severe jamming (such as shipping, illegal fishery, adopt sand, water pollution, Hydraulic engineering construction etc.), Yantze globefish class habitat is running down and is losing.Population viability analysis is as the result is shown current In the case of, if do not taken safeguard measure, Yangtze finless porpoise is in coming 10 years or will move towards extinction, has reinforced the protection of Yangtze finless porpoise It is very urgent.The Changjiang river Anqing section is the high river section of Yangtze finless porpoise distribution density, and Anqing municipal people's government builds in the Daguan District Xijiang River Vertical black finless porpoise raises and train base protection zone, which is the nature reserve area of China's third Yangtze finless porpoise.Yangtze finless porpoise protection zone It is important the approach of protection black finless porpoise, but how to carry out effective protection and is important research topic.What black finless porpoise was studied and protected Early application radio beacon is tracked, its movable route is tracked and recorded with triangulation location method, later using satellite with The means such as track, however these be all it is unsuccessful, main cause is that black finless porpoise does not have dorsal fin, and equipment can not be fixed on river for a long time On globefish body.The black finless porpoise for not dorsal fin is developed again for this problem, using the Special waistcoat of fixed radio beacon, Right the method still can cause satellite beacon to fall into the Changjiang river as black finless porpoise significantly moves about.Furthermore the cost of these equipment is high It is expensive, and battery life usually only 6 months or so, the tracking and analysis of system can not be chronically carried out to Yangtze finless porpoise.Therefore How to research and develop that a low-power consumption, sustainable work, accuracy be high, black finless porpoise positioning easy to use and maintenance is just shown with tracing system It obtains particularly critical.Yangtze finless porpoise has flourishing echolocation, they detect target by sonar, perceives extraneous ring Border.The invention patent then develops a kind of positioning of Yangtze finless porpoise passive sonar and tracing system.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of Yangtze finless porpoise passive sonar positioning based on Internet of Things And tracing system, Yangtze finless porpoise Sonar Signal can be acquired, and record Yangtze finless porpoise real-time activity situation, and record corresponding Hydrology-water quality situation provides data and supports for black finless porpoise protection and research, and this system low-power consumption, sustainable work, accuracy are high, easy In using and safeguard.
In order to solve the above technical problems, the positioning of Yangtze finless porpoise passive sonar and tracing system of the invention based on Internet of Things It include: buoy monitoring device layer, positioning and tracked information management level, information transfer;
The buoy monitoring device layer is for acquiring front end data and being handled;
The buoy monitoring device layer includes more set buoy monitoring devices, and every set buoy monitoring device constitutes a black finless porpoise positioning and chases after Track monitoring point;
Every set buoy monitoring device includes multiple monitoring sensors and ARM processing unit: the monitoring sensor is used for black finless porpoise The water quality and hydrographic information of the Sonar Signal of sending and black finless porpoise life are acquired, described for monitoring black finless porpoise voice signal Sensor uses SM2M ecological acoustics recorder under water;
The ARM core processing unit is for handling the collected signal of sensor;
The positioning and tracked information management level are for receiving information, processing information, analysis information, storage information;The positioning Comprised the following modules with tracked information management level: black finless porpoise acoustical characteristic parameters extraction module, black finless porpoise in real time/history move about trajectory diagram Module, water quality parameter database storage module, data statistic analysis report generation module, black finless porpoise protect emergency processing alarm mould Block, parameter setting module;
The information transfer is used for that unit to pass by wireless communication by the ARM core processing unit treated signal data The defeated central server to positioning and tracked information management level;
The information transfer is realized wireless networking communications networking and is carried out the transmission of data using LoRa mode.
The parameter that the black finless porpoise acoustical characteristic parameters extraction module extracts includes:
(1) amplitude and variation tendency of black finless porpoise Sonar Signal;
(2) signal duration Δ t, the time interval between the starting point and terminating point of black finless porpoise sonar time domain signal waveform are believed Number duration, using waveform appearing and subsiding in background noise as judgment basis;
(3) crest frequency, frequency in power spectrum chart when energy highest;
(4) three dB bandwidth, the frequency values of abscissa are corresponded to when signal power declines 3dB in power spectrum chart;
Cycle in (5) waveforms
(6) the relative bandwidth Q of power spectrum chart, value are
Black finless porpoise location tracking monitoring point is arranged in the movable waters of black finless porpoise, adjacent monitoring point spacing in the form of gridding Not less than 300 meters;The black finless porpoise in real time/history travelling track module using three-dimensional reconstruction and data visualization technique obtains river The travelling three-dimensional motion information of globefish, and with the activity trajectory of three-dimensional dynamic images display area to be monitored black finless porpoise.
The black finless porpoise in real time/history travelling trajectory diagram in, show its position coordinates on each black finless porpoise anchor point.
The ARM core processing unit includes main control chip, bandwidth-limited circuit, gain amplifying circuit, A/D sampling mould Block, power management module, memory module, RS232 serial port module, GPS module;The main control chip is used to carry out black finless porpoise signal Processing, and issue control instruction;The GPS module is used to demarcate the geography information coordinate of black finless porpoise.
The buoy monitoring device further include: dissolved oxygen sensor, pH value sensor, river turbidity transducer, water temperature pass Sensor.
The buoy monitoring device further include: all kinds of ion transducers, other extension sensors.
The information transfer includes the LoRa wireless transport module WH-L100- being embedded in every set buoy monitoring device L;It further include LoRa concentrator USR-LG280.
The positioning of Yangtze finless porpoise passive sonar and method for tracing that the present invention also provides a kind of based on Internet of Things, including it is following Step:
A, system initialization
A1, arrange multiple black finless porpoise location trackings monitoring point in the form of rasterizing in black finless porpoise activity waters, between adjacent monitoring point between Away from being not less than 300 meters, each monitoring point setting buoy monitoring device is a set of, and every set buoy monitoring device includes multiple monitoring sensings Device and ARM processing unit: the water quality and water of Sonar Signal and black finless porpoise life that the monitoring sensor is used to issue black finless porpoise Literary information is acquired, and the sensor for monitoring black finless porpoise voice signal uses SM2M ecological acoustics recorder under water;Institute ARM core processing unit is stated for handling the collected signal of sensor;
A2, first by LoRa wireless transport module WH-L100-L be embedded in buoy monitoring system, each wireless transport module WH- L100-L and LoRa concentrator USR-LG280 establishes connection, LoRa concentrator LG280 and rear alignment and tracked information process layer Server platform establishes connection;
A3, positioning and tracked information management level be provided with black finless porpoise acoustic feature database, black finless porpoise in real time/history travelling track data Library, water quality parameter database;
B, information collection and transmission
By SM2M, ecological acoustics recorder is acquired black finless porpoise voice signal under water, by multiple monitoring sensors to black finless porpoise The water quality and hydrographic information of living environment are acquired, and collected signal is transferred to ARM processing unit and is handled;
The ARM processing unit is used to carry out the information received judgement and provides control instruction according to judgement result, the ARM Processing unit includes main control chip, bandwidth-limited circuit, gain amplifying circuit, A/D sampling module, power management module, storage Module, RS232 serial port module, GPS module etc.;The main control chip issues control and refers to for handling black finless porpoise signal It enables;The bandwidth-limited circuit is filtered to the signal monitored;The gain amplifying circuit is to filtered signal It amplifies;The ecological collected analog signal of acoustics recorder is sent to bandwidth-limited circuit and gain amplification to the SM2M under water Circuit be filtered with signal enhanced processing, then by amplified signal be sent to sampling module carry out A/D sampling, after sampling Signal is input to main control ARM chip and carries out signal processing, and the signal after ARM processing unit processes passes through radio communication network Network transmission, the GPS module are used to demarcate the geography information coordinate of black finless porpoise;
The data of each wireless transport module WH-L100-L upload in LoRa concentrator USR-LG280, and system is each automatically Data transmission period coordinate is arranged in a node, and all nodes can be had according to the corresponding time with LoRa concentrator USR-LG280 Sequence transmission;Data are transmitted at rear alignment and tracked information by buoy monitoring system by WH-L100-L, concentrator LG280 Manage stratum server platform;
C, information processing and analysis
After positioning and tracked information process layer server platform receive water quality and hydrographic information, it is written into water quality and hydrology number According to library;
After positioning and tracked information process layer server platform receive black finless porpoise signal message, following black finless porpoise Sonar Signal number is calculated According to:
(1) amplitude and variation tendency of black finless porpoise Sonar Signal;
(2) signal duration Δ t, the time interval between the starting point and terminating point of black finless porpoise sonar time domain signal waveform are believed Number duration, with waveform appearing and subsiding for judgment basis in background noise;
(3) crest frequency, frequency in power spectrum chart when energy highest;
(4) three dB bandwidth, the frequency values of abscissa are corresponded to when signal power declines 3dB in power spectrum chart;
Cycle in (5) waveforms
(6) the relative bandwidth Q of power spectrum chart, value are
If calculated result meets the following conditions: the peak swing of Sonar Signal is -30dBV, the range of signal duration Δ t For 30-125us, peak frequency range 85-145KHZ, three dB bandwidth range is 9-42KHZ, and the cycle of a waveform is in 4- Between 16, the relative bandwidth range of power spectrum chart is 3.0-12.5, then is judged to capturing a black finless porpoise Sonar Signal, and will Black finless porpoise history travelling track database is recorded in this collected data, the black finless porpoise history travelling track database record Information includes: that acquisition time, monitoring point ID, monitoring point correspond to GPS information, Sonar Signal amplitude, signal duration, peak value frequency Rate, three dB bandwidth, the relative bandwidth of the cycle in a waveform, power spectrum chart;It simultaneously should to water quality and hydrological data bank supplement The corresponding water quality in monitoring point and hydrographic information;
D, black finless porpoise moving scene model is generated.
It is further comprising the steps of:
E, SOS is captured
Comparing is carried out to black finless porpoise history travelling track database, if in specified time interval, same monitoring point captures thunder The number of same black finless porpoise Sonar Signal is more than given threshold, then is judged to capturing SOS, and it is dynamic to trigger an early warning at this time Make, the early warning movement includes the following contents in report database: acquisition time, monitoring point ID, monitoring point correspond to GPS letter Breath;
If occurring multiple early warning movement simultaneously, and to act monitoring point be recorded adjacent on geographical location for multiple early warning, then Trigger actuation of an alarm.
Advantages of the present invention is embodied in: A, the present invention records black finless porpoise activity condition with passive sonar signal, and activation record is quasi- True property is high, and black finless porpoise body is conducive to black finless porpoise protection without installing any equipment additional.B, technology of Internet of things has been used, monitoring point is with grid Form of formatting deployment, is easy to extend, and low-power consumption, sustainable work, accuracy be high, easy to use and safeguard.C, it can record corresponding Hydrology-water quality situation provides data and supports for black finless porpoise protection and research, while water quality hydrologic regime is synchronous with black finless porpoise activity condition Record, convenient for real time monitoring, convenient for providing finer data.D, the options such as early warning, alarm are provided, guarantor is further increased Shield dynamics.E, using database technology, it is convenient for data long-term record and analysis.
Detailed description of the invention
Fig. 1 is the structure chart of Yangtze finless porpoise the passive sonar positioning and tracing system of the invention based on Internet of Things.
Specific embodiment
The present embodiment is illustrated by taking the section of the Changjiang river Anqing as an example, and the Anqing Xijiang River is the important habitat of Yangtze finless porpoise, is Reinforce black finless porpoise and protect work, approval in Anhui Province Anqing municipal people's government 2007 is established Anqing black finless porpoise nature reserve area, pacified The Daguan District the Qing Shi Xijiang River establishes black finless porpoise and raises and train base.Anqing Xijiang River system THE LOWER YANGTZE VALLEY typical gooseneck boom type river, river overall length is about 9km, mean breadth about 300m under ordinary water level, mean depth about 8.7m, maximum water depth is more than 20m.
Currently, there are about 50 black finless porpoises to live for the protection zone, the protection and research for Yangtze finless porpoise provide good platform, often 300 meters of arrangements, one black finless porpoise location tracking monitoring point is disposed more set buoys in the form of gridding and monitors system, using three-dimensional reconstruction The travelling three-dimensional motion information that black finless porpoise is obtained with data visualization technique, reconstructs the three-dimensional motion scene for having the very strong sense of reality Model draws out the three-dimensional dynamic images of black finless porpoise monitoring section, while to the intuitive exhibition that the progress of long Jiangxi river section can be vivid The animation of black finless porpoise is shown, sees distribution situation and its travelling track of black finless porpoise in real time, and generates animation and is shown, simultaneously Show that convenient for fixed point tracking, black finless porpoise can be protected when encountering emergency case in time for its position coordinates on each black finless porpoise point.
As shown in Figure 1, the positioning of Yangtze finless porpoise passive sonar and tracing system of the invention based on Internet of Things of the invention It include: buoy monitoring device layer, positioning and tracked information management level, information transfer.
The buoy monitoring device layer is for acquiring front end data and being handled;
The buoy monitoring device layer includes more set buoy monitoring devices, and every set buoy monitoring device constitutes a black finless porpoise positioning and chases after Track monitoring point;Every set buoy monitoring device includes multiple monitoring sensors and ARM processing unit: the monitoring sensor for pair The water quality and hydrographic information of Sonar Signal and black finless porpoise life that black finless porpoise issues are acquired, described for monitoring black finless porpoise sound letter Number sensor using SM2M ecological acoustics recorder under water.The ARM core processing unit is collected for handling sensor Signal.
The positioning and tracked information management level are for receiving information, processing information, analysis information, storage information;
It is described positioning and tracked information management level comprise the following modules: black finless porpoise acoustical characteristic parameters extraction module, black finless porpoise in real time/go through History travelling track module, water quality parameter database storage module, data statistic analysis report generation module, black finless porpoise protection emergency Handle alarm module, parameter setting module.
The information transfer is used for the ARM core processing unit treated signal data is single by wireless communication Member is transferred to the central server of positioning and tracked information management level;
The information transfer is realized wireless networking communications networking and is carried out the transmission of data using LoRa mode.
The parameter that the black finless porpoise acoustical characteristic parameters extraction module extracts includes:
(1) amplitude and variation tendency of black finless porpoise Sonar Signal;
(2) signal duration Δ t, black finless porpoise sonar time-domain signal are similar to the waveform of one " ticktack " (buzz), this waveform Starting point and terminating point between time interval thing signal duration, with waveform appearing and subsiding background noise be sentence Disconnected foundation;
(3) crest frequency, frequency in power spectrum chart when energy highest;
(4) three dB bandwidth, the frequency values of abscissa are corresponded to when signal power declines 3dB in power spectrum chart;
Cycle in (5) waveforms
(6) the relative bandwidth Q of power spectrum chart, value are
Black finless porpoise location tracking monitoring point is arranged in the movable waters of black finless porpoise, adjacent monitoring point spacing in the form of gridding Not less than 300 meters;The black finless porpoise in real time/history travelling track module using three-dimensional reconstruction and data visualization technique obtains river The travelling three-dimensional motion information of globefish, and with the activity trajectory of three-dimensional dynamic images display area to be monitored black finless porpoise.
The black finless porpoise in real time/history travelling trajectory diagram in, show its position coordinates on each black finless porpoise anchor point.
The ARM core processing unit includes main control chip, bandwidth-limited circuit, gain amplifying circuit, A/D sampling mould Block, power management module, memory module, RS232 serial port module, GPS module;The main control chip is used to carry out black finless porpoise signal Processing, and issue control instruction;The GPS module is used to demarcate the geography information coordinate of black finless porpoise.
The buoy monitoring device further include: dissolved oxygen sensor, pH value sensor, river turbidity transducer, water temperature pass Sensor.
The buoy monitoring device further include: all kinds of ion transducers, other extension sensors.
The information transfer includes the LoRa wireless transport module WH-L100- being embedded in every set buoy monitoring device L;It further include LoRa concentrator USR-LG280.
The positioning of Yangtze finless porpoise passive sonar and method for tracing that the present invention also provides a kind of based on Internet of Things, including it is following Step:
A, system initialization
A1, arrange multiple black finless porpoise location trackings monitoring point in the form of rasterizing in black finless porpoise activity waters, between adjacent monitoring point between Away from being not less than 300 meters, each monitoring point setting buoy monitoring device is a set of, and every set buoy monitoring device includes multiple monitoring sensings Device and ARM processing unit: the water quality and water of Sonar Signal and black finless porpoise life that the monitoring sensor is used to issue black finless porpoise Literary information is acquired, and the sensor for monitoring black finless porpoise voice signal uses SM2M ecological acoustics recorder under water;Institute ARM core processing unit is stated for handling the collected signal of sensor;
A2, first by LoRa wireless transport module WH-L100-L be embedded in buoy monitoring system, each wireless transport module WH- L100-L and LoRa concentrator USR-LG280 establishes connection, LoRa concentrator LG280 and rear alignment and tracked information process layer Server platform establishes connection;
A3, positioning and tracked information management level be provided with black finless porpoise acoustic feature database, black finless porpoise in real time/history travelling track data Library, water quality parameter database.
B, information collection and transmission
By SM2M, ecological acoustics recorder is acquired black finless porpoise voice signal under water, by multiple monitoring sensors to black finless porpoise The water quality and hydrographic information of living environment are acquired, and collected signal is transferred to ARM processing unit and is handled;
The ARM processing unit is used to carry out the information received judgement and provides control instruction according to judgement result, the ARM Processing unit includes main control chip, bandwidth-limited circuit, gain amplifying circuit, A/D sampling module, power management module, storage Module, RS232 serial port module, GPS module etc.;The main control chip issues control and refers to for handling black finless porpoise signal It enables;The bandwidth-limited circuit is filtered to the signal monitored;The gain amplifying circuit is to filtered signal It amplifies;The ecological collected analog signal of acoustics recorder is sent to bandwidth-limited circuit and gain amplification to the SM2M under water Circuit be filtered with signal enhanced processing, then by amplified signal be sent to sampling module carry out A/D sampling, after sampling Signal is input to main control ARM chip and carries out signal processing, and the signal after ARM processing unit processes passes through radio communication network Network transmission, the GPS module are used to demarcate the geography information coordinate of black finless porpoise;
The data of each wireless transport module WH-L100-L upload in LoRa concentrator USR-LG280, and system is each automatically Data transmission period coordinate is arranged in a node, and all nodes can be had according to the corresponding time with LoRa concentrator USR-LG280 Sequence transmission;Data are transmitted at rear alignment and tracked information by buoy monitoring system by WH-L100-L, concentrator LG280 Manage stratum server platform.LoRa is one of LPWAN communication technology, a kind of overlength distance wireless transmission based on spread spectrum Scheme.Currently, LoRa is mainly run in global free frequency range, including 433,868MHz etc..LoRa technology has remote, low Power consumption (battery life is long), multinode, low cost characteristic.
C, information processing and analysis
After positioning and tracked information process layer server platform receive water quality and hydrographic information, it is written into water quality and hydrology number According to library;
After positioning and tracked information process layer server platform receive black finless porpoise signal message, following black finless porpoise Sonar Signal number is calculated According to:
(1) amplitude and variation tendency of black finless porpoise Sonar Signal;
(2) signal duration Δ t, the time interval between the starting point and terminating point of black finless porpoise sonar time domain signal waveform are believed Number duration, with waveform appearing and subsiding for judgment basis in background noise;
(3) crest frequency, frequency in power spectrum chart when energy highest;
(4) three dB bandwidth, the frequency values of abscissa are corresponded to when signal power declines 3dB in power spectrum chart;
Cycle in (5) waveforms
(6) the relative bandwidth Q of power spectrum chart, value are
If calculated result meets the following conditions: the peak swing of Sonar Signal is -30dBV, the range of signal duration Δ t For 30 us -125us, peak frequency range is 85 KHZ -145KHZ, and three dB bandwidth range is 9 KHZ-42KHZ, a waveform Cycle between 4-16, the relative bandwidth range of power spectrum chart is 3.0-12.5, then is judged to capturing a black finless porpoise Sonar Signal, and black finless porpoise history travelling track database, the black finless porpoise history travelling rail is recorded in this collected data The information of mark data-base recording includes: that acquisition time, monitoring point ID, monitoring point correspond to GPS information, Sonar Signal amplitude, signal Duration, crest frequency, three dB bandwidth, the relative bandwidth of the cycle in a waveform, power spectrum chart;Simultaneously to water quality and Hydrological data bank augments the corresponding water quality in the monitoring point and hydrographic information;
All kinds of water quality parameters include: dissolved oxygen concentration, pH value size, river turbidity, water temperature, the concentration of ion.System is incited somebody to action To real time data be saved in database server, various processing then are carried out to data:
(1) printing analysis statistical report form.System is analyzed and processed obtained data, obtains the aquatic environment prison in various the Changjiang river Control index, including pH value, dissolved oxygen concentration, pH value size, river turbidity, water temperature, the concentration and equipment running status of ion Deng report and warning message and equipment running status report.
(2) various analysis charts are formed.System is analyzed and processed data, obtains various charts, the type packet of chart Column diagram, line chart, point diagram etc. are included, chart can reflect whole and following trend visual in imagely.
(3) powerful information searching function is formed.The function that system provides inquiry, prints various information.The content of inquiry The aquatic environment situation etc. of sonar characteristic parameter and the tributary of Yangtze Xijiang River including black finless porpoise.
(4) it using the application software of the related data mining B/S framework in system, while developing and being based on Android mobile platform APP application program, allow black finless porpoise researcher and nature reserve management personnel by Android mobile device, can complete for The ecological aquatic environment of black finless porpoise life and the animation of black finless porpoise are monitored the management with equipment, are provided with for the protection of black finless porpoise The support of power.
Metadata in system refers to: statistical information system (including black finless porpoise passive sonar characteristic information, black finless porpoise living environment A series of statistics catalogues such as information), inquiry classification/grouping standard (including types of databases information), statistical data etc..System Above-mentioned metadata progress Unified coding, description, classification point domain are managed.System can with dynamic expansion and maintenance metadata, and with Metadata is tie, keeps the inner link of different period of history data, realizes the shared of data, is big data technology, data Digging technology, black finless porpoise sonar data feature extraction and pattern-recognition application and the subsequent applications such as development lay the foundation.System System supports different user types and different role, the user object of system: government department, Yangtze river basin black finless porpoise protective tissue, height School scientific research personnel, Environmental Association personnel, system manager etc..
D, black finless porpoise moving scene model is generated.
In the present embodiment, more set buoys are disposed in the form of gridding and monitor system, using three-dimensional reconstruction and data visualization Technology obtains the travelling three-dimensional motion information of black finless porpoise, reconstructs the three-dimensional motion model of place for having the very strong sense of reality, draws out The three-dimensional dynamic images of black finless porpoise monitoring section, while to the life for intuitively showing black finless porpoise that the progress of long Jiangxi river section can be vivid State living, sees distribution situation and its travelling track of black finless porpoise in real time, and generates animation and be shown, while on each black finless porpoise point Show that convenient for fixed point tracking, black finless porpoise can be protected when encountering emergency case in time for its position coordinates.
In the present embodiment, is exported, passed through as screen using Sharp (SHARP) LCD-70LX255A 3D LCD TV HDMI high-definition digital line is connected with client computer.Operation on client computer, the complete 1:1 form of meeting copy to electricity Depending on machine screen, the control of administrative staff, scientific research personnel to real time data is greatly facilitated.The LCD TV passes through Special hanging Frame is fixed on metope, can be with multi-angle, multi-direction adjusting (left bank right bank, is faced upward, nutation, front and back stretching).
It is further comprising the steps of:
E, SOS is captured
Comparing is carried out to black finless porpoise history travelling track database, if in specified time interval, same monitoring point captures thunder The number of same black finless porpoise Sonar Signal is more than given threshold, then is judged to capturing SOS, and it is dynamic to trigger an early warning at this time Make, the early warning movement includes the following contents in report database: acquisition time, monitoring point ID, monitoring point correspond to GPS letter Breath;
If occurring multiple early warning movement simultaneously, and to act monitoring point be recorded adjacent on geographical location for multiple early warning, then Trigger actuation of an alarm.
Under normal circumstances, black finless porpoise frequent activity, and emerge within every 10~30 minutes and once taken a breath, as long as it is movable Change in location, in designated time period, the black finless porpoise Sonar Signal that same monitoring point is recorded will not highly duplicate.Therefore theoretically, In some period, the number that same monitoring point captures identical black finless porpoise Sonar Signal is more than given threshold, it is likely that hair Raw black finless porpoise activity is restricted.If several adjacent monitoring points all capture identical signal, black finless porpoise is possible in danger, and meets Dangerous position is associated with several adjacent monitoring points.
It is divided into the present embodiment, between specified time 10 minutes, the capture number of identical black finless porpoise Sonar Signal is set as 20 It is secondary.I.e. in 10 minutes, if some monitoring point continuously monitors 20 identical signals, early warning movement is triggered.If multiple prisons The equal prediction occurring movement of measuring point, and these monitoring points are adjacent on geographical location, then determine that black finless porpoise is in danger, and its Sonar Signal It is detected simultaneously by simultaneously by the monitoring point on periphery, triggers actuation of an alarm at this time.
In this step, the identical black finless porpoise Sonar Signal refers to that Sonar Signal index is identical or difference is in specified range Interior, the index specifically for judgement includes: the peak swing of Sonar Signal, signal duration Δ t, crest frequency, three dB bandwidth The relative bandwidth of range, the cycle of waveform, power spectrum chart.
In this step, the identical comparison of black finless porpoise Sonar Signal is only carried out between the identical data-base recording of monitoring point ID, It is directed to same monitoring point, self is carried out in section at the appointed time and compares, to reduce calculation amount, improves comparison accuracy and anti- Answer speed.
A specific embodiment of the invention includes but is not limited to above-described embodiment, without departing substantially from spirit of that invention and in fact In the case where matter, those skilled in the art can make various corresponding changes and modifications according to the present invention, but still fall Enter protection scope of the present invention.

Claims (10)

1. a kind of positioning of Yangtze finless porpoise passive sonar and tracing system based on Internet of Things, comprising: buoy monitoring device layer, positioning With tracked information management level, information transfer;
The buoy monitoring device layer is for acquiring front end data and being handled;
The buoy monitoring device layer includes more set buoy monitoring devices, and every set buoy monitoring device constitutes a black finless porpoise positioning and chases after Track monitoring point;
Every set buoy monitoring device includes multiple monitoring sensors and ARM processing unit: the monitoring sensor is used for black finless porpoise The water quality and hydrographic information of the Sonar Signal of sending and black finless porpoise life are acquired, described for monitoring black finless porpoise voice signal Sensor uses SM2M ecological acoustics recorder under water;
The ARM core processing unit is for handling the collected signal of sensor;
The positioning and tracked information management level are for receiving information, processing information, analysis information, storage information;The positioning Comprised the following modules with tracked information management level: black finless porpoise acoustical characteristic parameters extraction module, black finless porpoise in real time/history move about trajectory diagram Module, water quality parameter database storage module, data statistic analysis report generation module, black finless porpoise protect emergency processing alarm mould Block, parameter setting module;
The information transfer is used for that unit to pass by wireless communication by the ARM core processing unit treated signal data The defeated central server to positioning and tracked information management level;
The information transfer is realized wireless networking communications networking and is carried out the transmission of data using LoRa mode.
2. the positioning of Yangtze finless porpoise passive sonar and tracing system, feature according to claim 1 based on Internet of Things exists In: the parameter that the black finless porpoise acoustical characteristic parameters extraction module extracts includes:
(1) amplitude and variation tendency of black finless porpoise Sonar Signal;
(2) signal duration Δ t, the time interval between the starting point and terminating point of black finless porpoise sonar time domain signal waveform are believed Number duration, using waveform appearing and subsiding in background noise as judgment basis;
(3) crest frequency, frequency in power spectrum chart when energy highest;
(4) three dB bandwidth, the frequency values of abscissa are corresponded to when signal power declines 3dB in power spectrum chart;
Cycle in (5) waveforms
(6) the relative bandwidth Q of power spectrum chart, value are
3. the positioning of Yangtze finless porpoise passive sonar and tracing system, feature according to claim 1 based on Internet of Things exists In: black finless porpoise location tracking monitoring point is arranged in the movable waters of black finless porpoise in the form of gridding, and adjacent monitoring point spacing is not small In 300 meters;
The black finless porpoise in real time/history travelling track module obtains the travelling of black finless porpoise using three-dimensional reconstruction and data visualization technique Three-dimensional motion information, and with the activity trajectory of three-dimensional dynamic images display area to be monitored black finless porpoise.
4. the positioning of Yangtze finless porpoise passive sonar and tracing system, feature according to claim 3 based on Internet of Things exists In: the black finless porpoise in real time/history travelling trajectory diagram in, show its position coordinates on each black finless porpoise anchor point.
5. the positioning of Yangtze finless porpoise passive sonar and tracing system, feature according to claim 1 based on Internet of Things exists In: the ARM core processing unit includes main control chip, bandwidth-limited circuit, gain amplifying circuit, A/D sampling module, power supply Management module, memory module, RS232 serial port module, GPS module;The main control chip is used to handle black finless porpoise signal, and Issue control instruction;The GPS module is used to demarcate the geography information coordinate of black finless porpoise.
6. the positioning of Yangtze finless porpoise passive sonar and tracing system, feature according to claim 1 based on Internet of Things exists In: the buoy monitoring device further include: dissolved oxygen sensor, pH value sensor, river turbidity transducer, water temperature sensor.
7. the positioning of Yangtze finless porpoise passive sonar and tracing system, feature according to claim 1 based on Internet of Things exists In: the buoy monitoring device further include: all kinds of ion transducers, other extension sensors.
8. the positioning of Yangtze finless porpoise passive sonar and tracing system, feature according to claim 1 based on Internet of Things exists In: the information transfer includes the LoRa wireless transport module WH-L100-L being embedded in every set buoy monitoring device;Also wrap Include LoRa concentrator USR-LG280.
9. a kind of positioning of Yangtze finless porpoise passive sonar and method for tracing based on Internet of Things, comprising the following steps:
A, system initialization
A1, arrange multiple black finless porpoise location trackings monitoring point in the form of rasterizing in black finless porpoise activity waters, between adjacent monitoring point between Away from being not less than 300 meters, each monitoring point setting buoy monitoring device is a set of, and every set buoy monitoring device includes multiple monitoring sensings Device and ARM processing unit: the water quality and water of Sonar Signal and black finless porpoise life that the monitoring sensor is used to issue black finless porpoise Literary information is acquired, and the sensor for monitoring black finless porpoise voice signal uses SM2M ecological acoustics recorder under water;Institute ARM core processing unit is stated for handling the collected signal of sensor;
A2, first by LoRa wireless transport module WH-L100-L be embedded in buoy monitoring system, each wireless transport module WH- L100-L and LoRa concentrator USR-LG280 establishes connection, LoRa concentrator LG280 and rear alignment and tracked information process layer Server platform establishes connection;
A3, positioning and tracked information management level be provided with black finless porpoise acoustic feature database, black finless porpoise in real time/history travelling track data Library, water quality parameter database;
B, information collection and transmission
By SM2M, ecological acoustics recorder is acquired black finless porpoise voice signal under water, by multiple monitoring sensors to black finless porpoise The water quality and hydrographic information of living environment are acquired, and collected signal is transferred to ARM processing unit and is handled;
The ARM processing unit is used to carry out the information received judgement and provides control instruction according to judgement result, the ARM Processing unit includes main control chip, bandwidth-limited circuit, gain amplifying circuit, A/D sampling module, power management module, storage Module, RS232 serial port module, GPS module etc.;The main control chip issues control and refers to for handling black finless porpoise signal It enables;The bandwidth-limited circuit is filtered to the signal monitored;The gain amplifying circuit is to filtered signal It amplifies;The ecological collected analog signal of acoustics recorder is sent to bandwidth-limited circuit and gain amplification to the SM2M under water Circuit be filtered with signal enhanced processing, then by amplified signal be sent to sampling module carry out A/D sampling, after sampling Signal is input to main control ARM chip and carries out signal processing, and the signal after ARM processing unit processes passes through radio communication network Network transmission, the GPS module are used to demarcate the geography information coordinate of black finless porpoise;
The data of each wireless transport module WH-L100-L upload in LoRa concentrator USR-LG280, and system is each automatically Data transmission period coordinate is arranged in a node, and all nodes can be had according to the corresponding time with LoRa concentrator USR-LG280 Sequence transmission;Data are transmitted at rear alignment and tracked information by buoy monitoring system by WH-L100-L, concentrator LG280 Manage stratum server platform;
C, information processing and analysis
After positioning and tracked information process layer server platform receive water quality and hydrographic information, it is written into water quality and hydrology number According to library;
After positioning and tracked information process layer server platform receive black finless porpoise signal message, following black finless porpoise Sonar Signal number is calculated According to:
(1) amplitude and variation tendency of black finless porpoise Sonar Signal;
(2) signal duration Δ t, the time interval between the starting point and terminating point of black finless porpoise sonar time domain signal waveform are believed Number duration, with waveform appearing and subsiding for judgment basis in background noise;
(3) crest frequency, frequency in power spectrum chart when energy highest;
(4) three dB bandwidth, the frequency values of abscissa are corresponded to when signal power declines 3dB in power spectrum chart;
Cycle in (5) waveforms
(6) the relative bandwidth Q of power spectrum chart, value are
If calculated result meets the following conditions: the peak swing of Sonar Signal is -30dBV, the range of signal duration Δ t For 30us -125us, peak frequency range is 85KHZ -145KHZ, and three dB bandwidth range is 9 KHZ-42KHZ, waveform For cycle between 4-16, the relative bandwidth range of power spectrum chart is 3.0-12.5, then is judged to capturing a black finless porpoise sound Signal, and black finless porpoise history travelling track database, black finless porpoise history travelling track is recorded in this collected data The information of data-base recording includes: that acquisition time, monitoring point ID, monitoring point correspond to GPS information, Sonar Signal amplitude, signal and hold Continuous time, crest frequency, three dB bandwidth, the relative bandwidth of the cycle in a waveform, power spectrum chart;Simultaneously to water quality and water Literary database augments the corresponding water quality in the monitoring point and hydrographic information;
D, black finless porpoise moving scene model is generated.
10. the Yangtze finless porpoise passive sonar positioning based on Internet of Things and method for tracing, feature exist as claimed in claim 9 In: further comprising the steps of:
E, SOS is captured
Comparing is carried out to black finless porpoise history travelling track database, if in specified time interval, same monitoring point captures thunder The number of same black finless porpoise Sonar Signal is more than given threshold, then is judged to capturing SOS, and it is dynamic to trigger an early warning at this time Make, the early warning movement includes the following contents in report database: acquisition time, monitoring point ID, monitoring point correspond to GPS letter Breath;
If occurring multiple early warning movement simultaneously, and to act monitoring point be recorded adjacent on geographical location for multiple early warning, then Trigger actuation of an alarm.
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