CN109856639B - Yangtze river dolphin passive sonar positioning and tracking system and method based on Internet of things - Google Patents
Yangtze river dolphin passive sonar positioning and tracking system and method based on Internet of things Download PDFInfo
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Abstract
The invention provides a Yangtze river dolphin passive sonar positioning and tracking system based on the Internet of things, which comprises the following steps: the buoy monitoring equipment layer, the positioning and tracking information management layer and the information transmission layer; the buoy monitoring equipment layer is used for collecting and processing front-end data; the buoy monitoring equipment layer comprises a plurality of sets of buoy monitoring equipment, and each set of buoy monitoring equipment forms a positioning tracking monitoring point of a dolphin; the positioning and tracking information management layer is used for receiving information, processing information, analyzing information and storing information; the information transmission layer adopts a LoRa mode to realize wireless networking communication networking and data transmission. The invention can collect the sonar signals of the Yangtze river dolphin, record the real-time activity condition of the Yangtze river dolphin, record the corresponding hydrologic water quality condition, provide data support for protecting and researching the dolphin, and has the advantages of low power consumption, sustainable work, high accuracy and easy use and maintenance.
Description
Technical Field
The invention relates to the technical field of automatic control in the Internet of things, in particular to a positioning and tracking system based on the Internet of things.
Background
Yangtze river dolphin is a rare or endangered freshwater small whale animal in China, the population quantity is about 1040, the dolphin is only distributed in the middle and downstream of Yangtze river and adjacent to the Poyang lake and the Dongting lake, and the dolphin is classified as a very dangerous species (CR) in 2014 by the world natural protection alliance species survival committee (IUCN). The habitat of long-finless porpoise is gradually worsening and losing due to serious disturbances of human activities (such as shipping, illegal fishery, sand production, water pollution, hydraulic engineering construction, etc.). The analysis result of population viability shows that under the present situation, if no protective measures are taken, the Yangtze river dolphin will go to extinction within 10 years or will go to extinction, and the protection of the Yangtze river dolphin is reinforced. The Yangtze river estuary is Jiang Duan with high distribution density of Yangtze finders, and the people government of the Anqing city establishes a finders domestication base protection area in the Xijiang of the large viewing area, and the protection area is a natural protection area of a finders in the third Yangtze of China. The protection area of the Yangtze river dolphin is an important way for protecting the dolphin, but how to effectively protect the dolphin is an important research subject. Early stages of the research and protection of the dolphin use radio beacons for tracking, a triangulation method is used for tracking and recording the activity route of the dolphin, and then means such as satellite tracking are adopted, however, these were unsuccessful, mainly because the finless, the device cannot be fixed on the body of a dolphin for a long time. In response to this problem, special vests have been developed for dolphins without dorsal fins, using fixed radio beacons, however, the method still can lead the satellite beacon to fall into the Yangtze river along with the large-scale swimming of the finless porpoise. In addition, these devices are expensive to manufacture, and the battery life is typically only about 6 months, and it is not possible to systematically track and analyze Yangtze river dolphin for a long period of time. Therefore, it is particularly critical how to develop a positioning and tracking system for a dolphin with low power consumption, sustainable operation, high accuracy and easy use and maintenance. Yangtze river dolphin has developed echo positioning capability, and the Yangtze river dolphin relies on sonar to detect targets and sense external environments. The invention provides a passive sonar positioning and tracking system for Yangtze river dolphin.
Disclosure of Invention
The invention aims to solve the technical problem of providing a Yangtze river dolphin passive sonar positioning and tracking system based on the Internet of things, which can collect Yangtze river dolphin sonar signals, record the real-time activity condition of Yangtze river dolphin and record the corresponding hydrologic water quality condition, and provide data support for dolphin protection and research.
In order to solve the technical problems, the Yangtze river dolphin passive sonar positioning and tracking system based on the Internet of things comprises: the buoy monitoring equipment layer, the positioning and tracking information management layer and the information transmission layer;
the buoy monitoring equipment layer is used for collecting front-end data and processing the front-end data;
the buoy monitoring equipment layer comprises a plurality of sets of buoy monitoring equipment, and each set of buoy monitoring equipment forms a positioning tracking monitoring point of a dolphin;
each buoy monitoring device comprises a plurality of monitoring sensors and an ARM processing unit: the monitoring sensor is used for collecting sonar signals sent by the dolphin and water quality and hydrologic information of life of the dolphin, and the sensor for monitoring the sound signals of the dolphin adopts an SM2M underwater ecological acoustic recorder;
the ARM core processing unit is used for processing signals acquired by the sensor;
the positioning and tracking information management layer is used for receiving information, processing information, analyzing information and storing information; the positioning and tracking information management layer comprises the following modules: the system comprises a dolphin acoustic characteristic parameter extraction module, a dolphin real-time/historical swimming trajectory graph module, a water quality parameter database storage module, a data statistics analysis report generation module, a dolphin protection emergency treatment alarm module and a parameter setting module;
the information transmission layer is used for transmitting the signal data processed by the ARM core processing unit to a central server of the positioning and tracking information management layer through the wireless communication unit;
and the information transmission layer adopts a LoRa mode to realize wireless networking communication networking and data transmission.
The parameters extracted by the dolphin acoustic characteristic parameter extraction module comprise:
(1) Amplitude and variation trend of the dolphin sonar signals;
(2) The signal duration delta t, the time interval between the starting point and the ending point of the wave form of the dolphin sonar time domain signal, namely the duration of the signal, takes the appearance and disappearance of the wave form in the background noise as the judgment basis;
(3) Peak frequency
The frequency at which the energy is highest in the power spectrum;
(4) 3dB bandwidth
The frequency value corresponding to the abscissa when the signal power in the power spectrogram is reduced by 3 dB;
(5) Cycle number in a waveform
；
(6) The relative bandwidth Q of the power spectrum is as follows
。
The positioning, tracking and monitoring points of the dolphin are arranged in a movable water area of the dolphin in a gridding mode, and the distance between adjacent monitoring points is not less than 300 meters; the dolphin real-time/historical swimming track map module acquires the swimming three-dimensional motion information of the dolphin by adopting a three-dimensional reconstruction and data visualization technology, and displays the moving track of the dolphin in the monitored area by using a three-dimensional dynamic image.
In the real-time/historical swimming track diagram of the dolphin, the position coordinates of each dolphin are displayed on the positioning point of each dolphin.
The ARM core processing unit comprises a main control chip, a band-pass filter circuit, a gain amplifying circuit, an A/D sampling module, a power management module, a storage module, an RS232 serial port module and a GPS module; the main control chip is used for processing the dolphin signals and sending out control instructions; the GPS module is used for calibrating geographic information coordinates of the dolphin.
The buoy monitoring device further comprises: dissolved oxygen sensor, PH value sensor, river turbidity sensor and water temperature sensor.
The buoy monitoring device further comprises: various ion sensors, other extension sensors.
The information transmission layer comprises LoRa wireless transmission modules WH-L100-L embedded in each buoy monitoring device; loRa concentrator USR-LG280 is also included.
The invention also provides a Yangtze river dolphin passive sonar positioning and tracking method based on the Internet of things, which comprises the following steps:
A. system initialization
A1, arranging a plurality of finless porpoise positioning tracking monitoring points in a finless porpoise movable water area in a grid mode, wherein the distance between adjacent monitoring points is not less than 300 meters, each monitoring point is provided with one set of buoy monitoring equipment, and each set of buoy monitoring equipment comprises a plurality of monitoring sensors and ARM processing units: the monitoring sensor is used for collecting sonar signals sent by the dolphin and water quality and hydrologic information of life of the dolphin, and the sensor for monitoring the sound signals of the dolphin adopts an SM2M underwater ecological acoustic recorder; the ARM core processing unit is used for processing signals acquired by the sensor;
a2, embedding the LoRa wireless transmission modules WH-L100-L into a buoy monitoring system, wherein each wireless transmission module WH-L100-L is connected with a LoRa concentrator USR-LG280, and the LoRa concentrator LG280 is connected with a rear end positioning and tracking information processing layer server platform;
a3, the positioning and tracking information management layer is provided with a dolphin acoustic characteristic database, a dolphin real-time/historical swimming track database and a water quality parameter database;
B. information acquisition and transmission
Collecting a dolphin sound signal through an SM2M underwater ecological acoustic recorder, collecting water quality and hydrologic information of a dolphin living environment through a plurality of monitoring sensors, and transmitting the collected signal to an ARM processing unit for processing;
the ARM processing unit is used for judging the received information and giving a control instruction according to a judging result, and comprises a main control chip, a band-pass filter circuit, a gain amplifying circuit, an A/D sampling module, a power management module, a storage module, an RS232 serial port module, a GPS module and the like; the main control chip is used for processing the dolphin signals and sending out control instructions; the band-pass filter circuit filters the monitored signals; the gain amplifying circuit amplifies the filtered signal; the method comprises the steps that analog signals collected by the SM2M underwater ecological acoustic recorder are sent to a band-pass filter circuit and a gain amplification circuit to be subjected to filtering and signal amplification, the amplified signals are sent to a sampling module to be subjected to A/D sampling, the sampled signals are input to a main control ARM chip to be subjected to signal processing, the signals processed by an ARM processing unit are transmitted through a wireless communication network, and the GPS module is used for calibrating geographic information coordinates of a finless porpoise;
the data of each wireless transmission module WH-L100-L is uploaded to the LoRa concentrator USR-LG280, the system automatically sets data transmission time coordinates for each node, and all nodes can orderly transmit with the LoRa concentrator USR-LG280 according to the corresponding time; the buoy monitoring system transmits data to a rear end positioning and tracking information processing layer server platform through a WH-L100-L and a concentrator LG 280;
C. information processing and analysis
After the positioning and tracking information processing layer server platform receives the water quality and hydrologic information, the water quality and hydrologic information is written into a water quality and hydrologic database;
after the positioning and tracking information processing layer server platform receives the dolphin signal information, the following dolphin sonar signal data are calculated:
(1) Amplitude and variation trend of the dolphin sonar signals;
(2) The signal duration delta t, the time interval between the starting point and the ending point of the wave form of the dolphin sonar time domain signal, namely the duration of the signal, takes the appearance and disappearance of the wave form in background noise as the judgment basis;
(3) Peak frequency
The frequency at which the energy is highest in the power spectrum;
(4) 3dB bandwidth
The frequency value corresponding to the abscissa when the signal power in the power spectrogram is reduced by 3 dB;
(5) Cycle number in a waveform
；
(6) The relative bandwidth Q of the power spectrum is as follows
；
If the calculation result meets the following conditions: the maximum amplitude of the sonar signal is-30 dBV, the duration deltat of the signal is in the range of 30-125us, the peak frequency is in the range of 85-145KHZ, the 3dB bandwidth is in the range of 9-42KHZ, the frequency of one waveform is between 4-16, the relative bandwidth of the power spectrogram is in the range of 3.0-12.5, the capture of the one-time finless porpoise sonar signal is judged, the data acquired this time are recorded to a finless porpoise historical swimming track database, and the information recorded by the finless porpoise historical swimming track database comprises: the acquisition time, the monitoring point ID, GPS information corresponding to the monitoring point, sonar signal amplitude, signal duration, peak frequency, 3dB bandwidth, the number of cycles in one waveform and the relative bandwidth of a power spectrogram; meanwhile, supplementing water quality and hydrologic information corresponding to the monitoring point to a water quality and hydrologic database;
D. and generating a dolphin motion scene model.
The method also comprises the following steps:
E. capturing distress signals
The method comprises the steps of comparing data of a dolphin historical swimming track database, if the number of times that the same monitoring point captures the same dolphin sonar signal exceeds a set threshold value in a specified time interval, judging that a distress signal is captured, and triggering an early warning action at the moment, wherein the early warning action comprises the following contents in a report database: collecting GPS information corresponding to time, monitoring point ID and monitoring point;
and if a plurality of early warning actions occur simultaneously and monitoring points recorded by the early warning actions are adjacent in geographic position, triggering an alarm action.
The invention has the advantages that: A. according to the invention, the activity condition of the dolphin is recorded by using the passive sonar signals, the activity recording accuracy is high, no equipment is required to be additionally arranged on the body of the dolphin, and the protection of the dolphin is facilitated. B. By using the internet of things technology, the monitoring points are deployed in a grid mode, so that the system is easy to expand, low in power consumption, sustainable in work, high in accuracy and easy to use and maintain. C. Corresponding hydrologic water quality conditions can be recorded, data support is provided for protecting and researching the finest dolphin, and simultaneously, the water quality hydrologic conditions and the dolphin activity conditions are synchronously recorded, so that real-time monitoring is facilitated, and finer research data is conveniently provided. D. And options such as early warning, alarming and the like are provided, so that the protection degree is further improved. E. And the database technology is used, so that the data can be recorded and analyzed for a long time.
Drawings
Fig. 1 is a block diagram of a Yangtze river dolphin passive sonar positioning and tracking system based on the Internet of things.
Detailed Description
In this embodiment, the Yangtze river Anqing section is taken as an example, xijiang in Anqing city is an important habitat of Yangtze river dolphin, and in order to strengthen the protection work of the dolphin, the people government in Anhui province in Anqing city approves the establishment of a natural protection area of the dolphin in Anqing city in 2007, and a dolphin domestication base is established in Xijiang in a great viewing area of Anqing city. A typical gooseneck river channel at the downstream of Yangtze river of Anqing Xijiang river system has the total length of about 9km, the average width at normal water level of about 300m, the average water depth of about 8.7m and the maximum water depth of more than 20m.
At present, about 50 finless porpoise lives in the protection area, a good platform is provided for protecting and researching finless porpoise in the Yangtze river, a finless porpoise positioning and tracking monitoring point is arranged every 300 meters, a plurality of buoy monitoring systems are deployed in a gridding mode, the swimming three-dimensional motion information of the dolphin is obtained by adopting a three-dimensional reconstruction and data visualization technology, a three-dimensional motion scene model with very strong sense of reality is reconstructed, and drawing a three-dimensional dynamic image of a monitoring section of the dolphin, simultaneously visually displaying the living state of the dolphin in the Yangtze river and the west river section in an vivid manner, seeing the distribution condition and the swimming track of the dolphin in real time, generating animation for displaying, and simultaneously displaying the position coordinates of each dolphin point so as to be convenient for fixed-point tracking, so that the dolphin can be protected in time when encountering emergency.
As can be seen from fig. 1, the Yangtze river dolphin passive sonar positioning and tracking system based on the internet of things of the invention comprises: the buoy monitoring device layer, the positioning and tracking information management layer and the information transmission layer.
The buoy monitoring equipment layer is used for collecting front-end data and processing the front-end data;
the buoy monitoring equipment layer comprises a plurality of sets of buoy monitoring equipment, and each set of buoy monitoring equipment forms a positioning tracking monitoring point of a dolphin; each buoy monitoring device comprises a plurality of monitoring sensors and an ARM processing unit: the monitoring sensor is used for collecting sonar signals sent by the dolphin and water quality and hydrologic information of life of the dolphin, and the sensor for monitoring the sound signals of the dolphin adopts an SM2M underwater ecological acoustic recorder. The ARM core processing unit is used for processing signals acquired by the sensor.
The positioning and tracking information management layer is used for receiving information, processing information, analyzing information and storing information;
the positioning and tracking information management layer comprises the following modules: the system comprises a dolphin acoustic characteristic parameter extraction module, a dolphin real-time/historical swimming track map module, a water quality parameter database storage module, a data statistics analysis report generation module, a dolphin protection emergency treatment alarm module and a parameter setting module.
The information transmission layer is used for transmitting the signal data processed by the ARM core processing unit to a central server of the positioning and tracking information management layer through the wireless communication unit;
and the information transmission layer adopts a LoRa mode to realize wireless networking communication networking and data transmission.
The parameters extracted by the dolphin acoustic characteristic parameter extraction module comprise:
(1) Amplitude and variation trend of the dolphin sonar signals;
(2) The duration of the signal delta t, the dolphin sonar time domain signal is similar to a 'click' (buzz) waveform, and the duration of the time interval signal between the starting point and the ending point of the waveform is judged by taking the appearance and disappearance of the waveform on background noise as the basis;
(3) Peak frequency
The frequency at which the energy is highest in the power spectrum;
(4) 3dB bandwidth
The frequency value corresponding to the abscissa when the signal power in the power spectrogram is reduced by 3 dB;
(5) Cycle number in a waveform
；
(6) The relative bandwidth Q of the power spectrum is as follows
。
The positioning, tracking and monitoring points of the dolphin are arranged in a movable water area of the dolphin in a gridding mode, and the distance between adjacent monitoring points is not less than 300 meters; the dolphin real-time/historical swimming track map module acquires the swimming three-dimensional motion information of the dolphin by adopting a three-dimensional reconstruction and data visualization technology, and displays the moving track of the dolphin in the monitored area by using a three-dimensional dynamic image.
In the real-time/historical swimming track diagram of the dolphin, the position coordinates of each dolphin are displayed on the positioning point of each dolphin.
The ARM core processing unit comprises a main control chip, a band-pass filter circuit, a gain amplifying circuit, an A/D sampling module, a power management module, a storage module, an RS232 serial port module and a GPS module; the main control chip is used for processing the dolphin signals and sending out control instructions; the GPS module is used for calibrating geographic information coordinates of the dolphin.
The buoy monitoring device further comprises: dissolved oxygen sensor, PH value sensor, river turbidity sensor and water temperature sensor.
The buoy monitoring device further comprises: various ion sensors, other extension sensors.
The information transmission layer comprises LoRa wireless transmission modules WH-L100-L embedded in each buoy monitoring device; loRa concentrator USR-LG280 is also included.
The invention also provides a Yangtze river dolphin passive sonar positioning and tracking method based on the Internet of things, which comprises the following steps:
A. system initialization
A1, arranging a plurality of finless porpoise positioning tracking monitoring points in a finless porpoise movable water area in a grid mode, wherein the distance between adjacent monitoring points is not less than 300 meters, each monitoring point is provided with one set of buoy monitoring equipment, and each set of buoy monitoring equipment comprises a plurality of monitoring sensors and ARM processing units: the monitoring sensor is used for collecting sonar signals sent by the dolphin and water quality and hydrologic information of life of the dolphin, and the sensor for monitoring the sound signals of the dolphin adopts an SM2M underwater ecological acoustic recorder; the ARM core processing unit is used for processing signals acquired by the sensor;
a2, embedding the LoRa wireless transmission modules WH-L100-L into a buoy monitoring system, wherein each wireless transmission module WH-L100-L is connected with a LoRa concentrator USR-LG280, and the LoRa concentrator LG280 is connected with a rear end positioning and tracking information processing layer server platform;
and A3, the positioning and tracking information management layer is provided with a dolphin acoustic characteristic database, a dolphin real-time/historical swimming track database and a water quality parameter database.
B. Information acquisition and transmission
Collecting a dolphin sound signal through an SM2M underwater ecological acoustic recorder, collecting water quality and hydrologic information of a dolphin living environment through a plurality of monitoring sensors, and transmitting the collected signal to an ARM processing unit for processing;
the ARM processing unit is used for judging the received information and giving a control instruction according to a judging result, and comprises a main control chip, a band-pass filter circuit, a gain amplifying circuit, an A/D sampling module, a power management module, a storage module, an RS232 serial port module, a GPS module and the like; the main control chip is used for processing the dolphin signals and sending out control instructions; the band-pass filter circuit filters the monitored signals; the gain amplifying circuit amplifies the filtered signal; the method comprises the steps that analog signals collected by the SM2M underwater ecological acoustic recorder are sent to a band-pass filter circuit and a gain amplification circuit to be subjected to filtering and signal amplification, the amplified signals are sent to a sampling module to be subjected to A/D sampling, the sampled signals are input to a main control ARM chip to be subjected to signal processing, the signals processed by an ARM processing unit are transmitted through a wireless communication network, and the GPS module is used for calibrating geographic information coordinates of a finless porpoise;
the data of each wireless transmission module WH-L100-L is uploaded to the LoRa concentrator USR-LG280, the system automatically sets data transmission time coordinates for each node, and all nodes can orderly transmit with the LoRa concentrator USR-LG280 according to the corresponding time; the buoy monitoring system transmits data to the back-end positioning and tracking information processing layer server platform through WH-L100-L and concentrator LG280. LoRa is one of LPWAN communication technologies, and is an ultra-long-distance wireless transmission scheme based on a spread spectrum technology. Currently, loRa operates mainly in the global free frequency band, including 433, 868MHz, etc. The LoRa technology has the characteristics of long distance, low power consumption (long battery life), multiple nodes and low cost.
C. Information processing and analysis
After the positioning and tracking information processing layer server platform receives the water quality and hydrologic information, the water quality and hydrologic information is written into a water quality and hydrologic database;
after the positioning and tracking information processing layer server platform receives the dolphin signal information, the following dolphin sonar signal data are calculated:
(1) Amplitude and variation trend of the dolphin sonar signals;
(2) The signal duration delta t, the time interval between the starting point and the ending point of the wave form of the dolphin sonar time domain signal, namely the duration of the signal, takes the appearance and disappearance of the wave form in background noise as the judgment basis;
(3) Peak frequency
The frequency at which the energy is highest in the power spectrum;
(4) 3dB bandwidth
The frequency value corresponding to the abscissa when the signal power in the power spectrogram is reduced by 3 dB;
(5) Cycle number in a waveform
；
(6) The relative bandwidth Q of the power spectrum is as follows
；
If the calculation result meets the following conditions: the maximum amplitude of the sonar signal is-30 dBV, the duration deltat of the signal is in the range of 30us-125us, the peak frequency is in the range of 85KHZ-145KHZ, the 3dB bandwidth is in the range of 9KHZ-42KHZ, the frequency of one waveform is between 4 and 16, the relative bandwidth of the power spectrogram is in the range of 3.0-12.5, the capture of the one-time finless porpoise sonar signal is judged, the data acquired at the time is recorded in a finless porpoise historical swimming track database, and the information recorded in the finless porpoise historical swimming track database comprises: the acquisition time, the monitoring point ID, GPS information corresponding to the monitoring point, sonar signal amplitude, signal duration, peak frequency, 3dB bandwidth, the number of cycles in one waveform and the relative bandwidth of a power spectrogram; meanwhile, supplementing water quality and hydrologic information corresponding to the monitoring point to a water quality and hydrologic database;
the various water quality parameters comprise: dissolved oxygen concentration, pH value, turbidity of river water, water temperature and ion concentration. The system stores the obtained real-time data to a database server, and then performs various processes on the data:
(1) And printing and analyzing a statistical report. The system analyzes and processes the obtained data to obtain various water quality environment monitoring indexes of the Yangtze river, including reports of PH value, dissolved oxygen concentration, PH value, turbidity of river, water temperature, ion concentration, equipment running state and the like, alarm information and equipment running state report forms.
(2) Various analytical charts were formed. The system analyzes and processes the data to obtain various charts, the types of the charts comprise a column chart, a line graph, a dot chart and the like, and the charts can intuitively reflect the overall trend and the future trend.
(3) Forming a powerful information inquiry function. The system provides the functions of inquiring and printing various information. The inquired content comprises sonar characteristic parameters of the finless porpoise, water quality environment conditions of the Yangtze river tributary and the Xijiang, and the like.
(4) And meanwhile, application software of a BS architecture is developed by utilizing related data in the system, and APP application programs based on an android mobile platform are developed, so that finless porpoise researchers and natural protection area managers can monitor ecological water quality environment of finless porpoise life and manage equipment through android mobile equipment, and powerful support is provided for finless porpoise protection.
The metadata in the system refers to a statistical information system (comprising a series of statistical catalogues of passive sonar characteristic information of the dolphin, living environment information of the dolphin and the like), query classification/grouping standards (comprising various database information), statistical data and the like. The system carries out unified coding, description and classified domain management on the metadata. The system can dynamically expand and maintain metadata, takes the metadata as a tie, keeps internal relations of data in different historical periods, realizes data sharing, and lays a foundation for subsequent applications such as feature extraction of big data technology, data mining technology and dolphin sonar data, application and development of pattern recognition. The system supports different user types and different roles, and the user objects of the system are government departments, yangtze river basin and globefish protection organizations, university scientific researchers, environmental protection association personnel, system administrators and the like.
D. And generating a dolphin motion scene model.
In the embodiment, a plurality of buoy monitoring systems are deployed in a gridding mode, three-dimensional reconstruction and data visualization technologies are adopted to obtain the swimming three-dimensional motion information of the finless porpoise, a three-dimensional motion scene model with very strong sense of reality is reconstructed, three-dimensional dynamic images of a finless porpoise monitoring section are drawn, meanwhile, the living state of the finless porpoise is visually displayed on the Yangtze river section, the distribution condition and the swimming track of the finless porpoise are seen in real time, animation is generated and displayed, meanwhile, the position coordinates of each finless porpoise point are displayed so as to be convenient for fixed point tracking, and the finless porpoise can be timely protected when an emergency is encountered.
In this embodiment, a summer-time resolution protocol (SHARP) LCD-70 LXLX255A 3D LCD television is used as a screen output, and is connected to a client computer via an HDMI high definition digital line. The operation on the client computer can be copied to the television screen in a complete 1:1 mode, so that management personnel and scientific researchers can conveniently control the real-time data. The liquid crystal television is fixed on a wall surface through a special hanging frame, and can be adjusted in multiple angles and multiple directions (left inclination, right inclination, upward pitching, downward pitching and front-back stretching).
The method also comprises the following steps:
E. capturing distress signals
The method comprises the steps of comparing data of a dolphin historical swimming track database, if the number of times that the same monitoring point captures the same dolphin sonar signal exceeds a set threshold value in a specified time interval, judging that a distress signal is captured, and triggering an early warning action at the moment, wherein the early warning action comprises the following contents in a report database: collecting GPS information corresponding to time, monitoring point ID and monitoring point;
and if a plurality of early warning actions occur simultaneously and monitoring points recorded by the early warning actions are adjacent in geographic position, triggering an alarm action.
Under normal conditions, the finless porpoise moves frequently, and the finless porpoise can be ventilated once when the finless porpoise emerges from the water surface every 10-30 minutes, so long as the moving position changes, the finless porpoise sonar signals recorded by the same monitoring point cannot be highly identical within a designated time period. Therefore, in theory, in a certain time period, the number of times that the same monitoring point captures the same finless porpoise sonar signal exceeds a set threshold, and the finless porpoise activity is possibly limited. If all of the plurality of adjacent monitoring points capture the radar signal, the finless porpoise is likely to be in distress and the distress location is associated with the plurality of adjacent monitoring points.
In this example, the designated time interval is 10 minutes, and the number of times of capturing the identical finless porpoise sonar signal is set to 20. If 20 identical signals are continuously monitored at a certain monitoring point within 10 minutes, the early warning action is triggered. If the plurality of monitoring points generate early warning actions and the monitoring points are adjacent in geographic position, the situation that the dolphin is in danger is judged, and the sonar signals of the dolphin are simultaneously detected by the peripheral monitoring points, and the alarm action is triggered at the moment.
In this step, the identical finless porpoise sonar signals refer to sonar signals with the same index or different indexes within a specified range, and the specific indexes for judging include: maximum amplitude of sonar signal, signal duration Δt, peak frequency, 3dB bandwidth range, the number of cycles of a waveform, the relative bandwidth of the power spectrum.
In the step, the identical comparison of the finless porpoise sonar signals is only carried out between database records with identical monitoring point IDs, namely, the self-comparison is carried out in a specified time period aiming at the same monitoring point, so that the calculated amount is reduced, and the comparison precision and the reaction speed are improved.
The present invention is not limited to the above-described embodiments, and various modifications and variations can be made by those skilled in the art in light of the present invention without departing from the spirit and the essence of the invention, but still fall within the scope of the invention.
Claims (1)
1. A Yangtze river dolphin passive sonar positioning and tracking method based on the Internet of things comprises the following steps:
A. system initialization
A1, arranging a plurality of finless porpoise positioning tracking monitoring points in a finless porpoise movable water area in a grid mode, wherein the distance between adjacent monitoring points is not less than 300 meters, each monitoring point is provided with one set of buoy monitoring equipment, and each set of buoy monitoring equipment comprises a plurality of monitoring sensors and ARM processing units: the monitoring sensor is used for collecting sonar signals sent by the dolphin and water quality and hydrologic information of life of the dolphin, and the sensor for monitoring the sound signals of the dolphin adopts an SM2M underwater ecological acoustic recorder; the ARM core processing unit is used for processing signals acquired by the sensor;
a2, embedding the LoRa wireless transmission modules WH-L100-L into a buoy monitoring system, wherein each wireless transmission module WH-L100-L is connected with a LoRa concentrator USR-LG280, and the LoRa concentrator LG280 is connected with a rear end positioning and tracking information processing layer server platform;
a3, the positioning and tracking information management layer is provided with a dolphin acoustic characteristic database, a dolphin real-time/historical swimming track database and a water quality parameter database;
B. information acquisition and transmission
Collecting a dolphin sound signal through an SM2M underwater ecological acoustic recorder, collecting water quality and hydrologic information of a dolphin living environment through a plurality of monitoring sensors, and transmitting the collected signal to an ARM processing unit for processing;
the ARM processing unit is used for judging the received information and giving a control instruction according to a judging result, and comprises a main control chip, a band-pass filter circuit, a gain amplifying circuit, an A/D sampling module, a power management module, a storage module, an RS232 serial port module, a GPS module and the like; the main control chip is used for processing the dolphin signals and sending out control instructions; the band-pass filter circuit filters the monitored signals; the gain amplifying circuit amplifies the filtered signal; the method comprises the steps that analog signals collected by the SM2M underwater ecological acoustic recorder are sent to a band-pass filter circuit and a gain amplification circuit to be subjected to filtering and signal amplification, the amplified signals are sent to a sampling module to be subjected to A/D sampling, the sampled signals are input to a main control ARM chip to be subjected to signal processing, the signals processed by an ARM processing unit are transmitted through a wireless communication network, and the GPS module is used for calibrating geographic information coordinates of a finless porpoise;
the data of each wireless transmission module WH-L100-L is uploaded to the LoRa concentrator USR-LG280, the system automatically sets data transmission time coordinates for each node, and all nodes can orderly transmit with the LoRa concentrator USR-LG280 according to the corresponding time; the buoy monitoring system transmits data to a rear end positioning and tracking information processing layer server platform through a WH-L100-L and a concentrator LG 280;
C. information processing and analysis
After the positioning and tracking information processing layer server platform receives the water quality and hydrologic information, the water quality and hydrologic information is written into a water quality and hydrologic database;
after the positioning and tracking information processing layer server platform receives the dolphin signal information, the following dolphin sonar signal data are calculated:
(1) Amplitude and variation trend of the dolphin sonar signals;
(2) The signal duration delta t, the time interval between the starting point and the ending point of the wave form of the dolphin sonar time domain signal, namely the duration of the signal, takes the appearance and disappearance of the wave form in background noise as the judgment basis;
(3) Peak frequency f p The frequency at which the energy is highest in the power spectrum;
(4) 3dB bandwidth delta f The frequency value corresponding to the abscissa when the signal power in the power spectrogram is reduced by 3 dB;
(5) Frequency number N in one waveform C ；
(6) The relative bandwidth Q of the power spectrum is f p /Δ f ；
If the calculation result meets the following conditions: the maximum amplitude of the sonar signal is-30 dBV, the duration deltat of the signal is in the range of 30us-125us, the peak frequency is in the range of 85KHZ-145KHZ, the 3dB bandwidth is in the range of 9KHZ-42KHZ, the frequency of one waveform is between 4 and 16, the relative bandwidth of the power spectrogram is in the range of 3.0-12.5, the capture of the one-time finless porpoise sonar signal is judged, the data acquired this time are recorded in a finless porpoise historical swimming track database, and the information recorded in the finless porpoise historical swimming track database comprises: the acquisition time, the monitoring point ID, GPS information corresponding to the monitoring point, sonar signal amplitude, signal duration, peak frequency, 3dB bandwidth, the number of cycles in one waveform and the relative bandwidth of a power spectrogram; meanwhile, supplementing water quality and hydrologic information corresponding to the monitoring point to a water quality and hydrologic database;
D. generating a dolphin motion scene model;
E. capturing distress signals
The method comprises the steps of comparing data of a dolphin historical swimming track database, if the number of times that the same monitoring point captures the same dolphin sonar signal exceeds a set threshold value in a specified time interval, judging that a distress signal is captured, and triggering an early warning action at the moment, wherein the early warning action comprises the following contents in a report database: collecting GPS information corresponding to time, monitoring point ID and monitoring point;
and if a plurality of early warning actions occur simultaneously and monitoring points recorded by the early warning actions are adjacent in geographic position, triggering an alarm action.
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| CN111965654A (en) * | 2020-08-03 | 2020-11-20 | 安庆师范大学 | Wireless positioning and tracking system and tracking method for finless porpoise |
| CN111830509A (en) * | 2020-08-03 | 2020-10-27 | 安庆师范大学 | Finless porpoise positioner |
| CN112801065B (en) * | 2021-04-12 | 2021-06-25 | 中国空气动力研究与发展中心计算空气动力研究所 | Space-time multi-feature information-based passive sonar target detection method and device |
| CN114820969B (en) * | 2022-04-21 | 2023-01-31 | 山东省地质矿产勘查开发局八〇一水文地质工程地质大队(山东省地矿工程勘察院) | Three-dimensional geological model construction method |
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