CN110514182A - A kind of long-range survey system and method at hydrology scene - Google Patents
A kind of long-range survey system and method at hydrology scene Download PDFInfo
- Publication number
- CN110514182A CN110514182A CN201910775539.7A CN201910775539A CN110514182A CN 110514182 A CN110514182 A CN 110514182A CN 201910775539 A CN201910775539 A CN 201910775539A CN 110514182 A CN110514182 A CN 110514182A
- Authority
- CN
- China
- Prior art keywords
- satellite positioning
- aerial vehicle
- unmanned aerial
- data
- water
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 147
- 238000005259 measurement Methods 0.000 claims abstract description 90
- 238000012545 processing Methods 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims description 47
- 238000012360 testing method Methods 0.000 claims description 20
- 238000012937 correction Methods 0.000 claims description 17
- 238000007667 floating Methods 0.000 claims description 17
- 238000004458 analytical method Methods 0.000 claims description 13
- 238000000691 measurement method Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000011084 recovery Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 11
- 230000001360 synchronised effect Effects 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 239000006260 foam Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000034699 Vitreous floaters Diseases 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229920007790 polymethacrylimide foam Polymers 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Hydrology & Water Resources (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses the long-range survey systems and method at a kind of hydrology scene, comprising: Water depth measuring sensor, satellite positioning base station, satellite positioning movement station, signal resolution unit, communication unit, Cloud Server, background processing system and unmanned aerial vehicle platform；Water depth measuring sensor sounds the depth of the water, and the position of satellite positioning base station is fixed and forms dynamic difference with satellite positioning movement station and positions；Unmanned aerial vehicle platform carries Water depth measuring sensor and satellite positioning movement station；It drifts about with water flow；Satellite positioning movement station calculates its live drift velocity；Signal resolution unit receives measurement data, and it is sent to Cloud Server by communication unit, and receive control instruction；Cloud Server stores measurement data and control command；Background processing system receives the data of Cloud Server storage, sends control instruction.Through the invention, the coordinate of measuring point in water body, flow direction, flow velocity, the depth of water are realized and synchronizes long-range measurement, workout time is long, and precision is high.
Description
Technical Field
The invention relates to the technical field of hydrological tests, in particular to a hydrological field remote measurement system and a hydrological field remote measurement method.
Background
Hydrologic elements are essential elements required for design, construction and operation management of hydraulic engineering, water environmental engineering and the like, wherein the flow rate of water flow and corresponding water depth are two most important elements. At present, the special equipment for hydrological emergency monitoring is less, technicians mostly adopt portable monitoring equipment such as ADCP (active digital content control) flow velocity meters to manually acquire monitoring data after reaching a region to be detected, however, the outdoor conditions during flood peaks and storm tides are complex and the environment is severe, so that the outdoor conditions are difficult to develop. Therefore, remote synchronous testing of the field flow rate and the water depth is a difficult problem in hydrological testing of various countries, and research and development of a remote synchronous testing system of the field flow rate and the water depth are urgently needed.
Through retrieval, the existing flow velocity measurement system and method depending on the unmanned aerial vehicle can be divided into a water surface contact type and a hovering type. The unmanned aerial vehicle contacts the water surface, and the flow velocity is measured by a carried flow velocity meter; the unmanned aerial vehicle of the latter hovers over the water surface, and the flow velocity is measured through speed measuring instruments such as the radar carried on. If the application number is 201711455340.3, a flow measurement unmanned aerial vehicle and a flow measurement method are disclosed, the flow measurement unmanned aerial vehicle comprises a machine body, a radar flow measurement probe, a radar water level gauge, a battery module and a control unit, wherein the radar flow measurement probe and the radar water level gauge are installed below the machine body, and the battery module and the control unit are arranged in the machine body, and the main defects of the invention are as follows: 1) the control unit controls the hovering height of the unmanned aerial vehicle according to the height measured by the radar water level gauge, and the hovering of the unmanned aerial vehicle cannot be accurately realized when the wind speed is high; 2) even if the unmanned aerial vehicle is high enough in wind resistance to realize hovering, the technology inevitably adopts the radar to measure the flow velocity, and the hovering unmanned aerial vehicle drifts back and forth under the blowing of wind, so that the radar measures the flow velocity instead of the water flow velocity, and the flow velocity measurement precision is influenced; 3) the system of the invention does not provide the function of the geodetic coordinate value of the measured point; 4) the system of the invention has no function of synchronously measuring the water depth, and the water depth value at the measuring point cannot be given.
In addition, application number is 201810587536.6, discloses an unmanned aerial vehicle intelligence surface of water velocity of flow current survey system, adopts and carries on surface of water velocity of flow sensor control system and surface of water velocity of flow sensor on the unmanned aerial vehicle flight platform, through ground system remote operation, has realized automatic acquisition, automatic transmission, the automatic processing analysis to the regional interior hydrology monitoring data that awaits measuring that hydrology operation personnel can't arrive. The main disadvantages of the invention are that: 1) the geodetic function of the survey point is lacking. 2) Only flow velocity measurements are provided, but water depth measurement functionality is lacking. 3) The system needs to carry a water surface flow velocity sensor control system and a water surface flow velocity sensor, the water surface flow velocity is measured by the water surface flow velocity sensor, and the sensor is usually heavy and expensive, so that the requirement on the load carrying capacity of the unmanned aerial vehicle is high, and once the unmanned aerial vehicle is damaged in the measurement process, the whole system can bury underwater, and the total loss is high. 4) Because the unmanned aerial vehicle system drifts in the water body, the actual speed of the water flow and the drifting speed of the unmanned aerial vehicle are measured by the water surface flow velocity sensor, and the flow velocity verification function is lacked.
Generally, in both foreign countries and domestic countries, most of existing flow velocity measurement equipment of unmanned aerial vehicle platforms adopt non-contact remote sensing observation, measurement data of the equipment have errors with reality, and the measurement errors are usually larger especially for water areas with higher sand content or more scattering targets such as floaters and the like; and unmanned aerial vehicle is in flight state all the time in the measurement process, and measurement operating time receives the serious restriction of battery power, and actual measurement time is very limited. More particularly, the existing methods lack the function of synchronously measuring geodetic coordinates, water depth and flow velocity, and cannot provide data such as water depth, flow direction and measurement path. Therefore, the development of corresponding testing equipment is urgently needed.
Disclosure of Invention
The invention provides a hydrological field remote measurement system and a hydrological field remote measurement method aiming at the problems in the prior art, and aims to realize synchronous remote measurement of longitude and latitude coordinates, flow direction, flow velocity and water depth of measured points in a water body, real-time network transmission of measured data, automatic recovery of measuring equipment and the like.
In order to solve the technical problems, the invention is realized by the following technical scheme:
according to a first aspect of the present invention, there is provided a remote measurement system for a hydrological site, comprising: the system comprises a positioning depth measurement system, a communication system, a cloud server, a background processing system and an unmanned aerial vehicle platform; the positioning and depth-sounding system comprises: the system comprises a water depth measuring sensor, a satellite positioning base station and a satellite positioning mobile station; wherein,
the unmanned aerial vehicle platform is used for bearing the bathymetric sensor and the satellite positioning mobile station; when remote measurement is needed, the unmanned aerial vehicle platform is used for flying to a target water area and landing on the water surface to carry out measurement;
a floating body is arranged below the unmanned aerial vehicle platform and used for enabling the unmanned aerial vehicle platform to float on the water surface and freely and synchronously move along with water flow so as to obtain the field flow velocity of the target water area by measuring the drift velocity of the unmanned aerial vehicle platform along with the water flow;
the water depth measuring sensor is used for measuring water depth to obtain water depth data;
the position of the satellite positioning base station is fixed, and the satellite positioning mobile station is arranged on the unmanned aerial vehicle platform and moves along with the unmanned aerial vehicle platform; dynamic differential positioning is formed between the satellite positioning base station and the satellite positioning mobile station, and the satellite positioning mobile station is further used for calculating the field drift velocity of the unmanned aerial vehicle platform of the target water area according to the dynamic differential positioning data;
the communication system is arranged on the unmanned aerial vehicle platform and comprises a signal analysis unit and a communication unit; the signal analysis unit is used for receiving the dynamic differential positioning data and the water depth data, sending the obtained data to the cloud server through the communication unit, and receiving a control instruction of the background processing system through the cloud server;
the cloud server is used for storing the dynamic differential positioning data sent by the communication system, the field drift speed of the unmanned aerial vehicle platform, the water depth data and the control command of the background processing system;
the background processing system is used for receiving the data stored by the cloud server, analyzing, calculating and displaying a graph, and sending a control instruction to the positioning and depth sounding system to control the positioning and depth sounding system to start testing or stop testing.
Preferably, the floating body is a floating body having a density less than that of water.
Preferably, the floating body is a hollow cylinder, and the axis of the cylinder is parallel to the plane of the unmanned aerial vehicle platform.
Preferably, the volume of the hollow part of the cylindrical floating body is determined by the load of the unmanned aerial vehicle platform, and the heavier the load of the unmanned aerial vehicle platform is, the larger the volume of the hollow part of the cylindrical floating body is.
Preferably, the background processing system is further configured to correct the field drift speed of the drone platform stored by the cloud server.
Preferably, the method for correcting the field drift velocity stored in the cloud server in the background processing system includes: and introducing a relation curve between the actual water flow velocity and the drift velocity of the unmanned aerial vehicle platform as a correction coefficient, and multiplying the field drift velocity stored in the cloud server by the correction coefficient to obtain the corrected field flow velocity.
Preferably, the satellite positioning base station includes: the system comprises a first satellite positioning unit, a first satellite antenna and a first data transmission radio station; wherein,
the first satellite positioning unit is used for receiving a first satellite positioning signal through a first satellite antenna;
the first data transmission radio station is connected with the first satellite positioning unit and used for receiving the satellite positioning signals transmitted by the first satellite positioning unit and continuously broadcasting and transmitting data to the outside in a radio signal mode;
the satellite positioning mobile station includes: the system comprises a second satellite positioning unit, a second satellite antenna and a second data transmission radio station; wherein,
the second data transmission radio station is connected with the second satellite positioning unit and used for receiving a first satellite positioning signal transmitted by the first data transmission radio station and transmitting data to the second satellite positioning unit;
and the second satellite positioning unit receives a second positioning signal through a second satellite antenna, and performs differential positioning calculation according to the obtained first satellite positioning signal to obtain high-precision longitude and latitude coordinates.
Preferably, the communication unit is a GPRS communication unit.
Preferably, the first satellite positioning unit and the second satellite positioning unit can receive satellite data of seven frequency bands such as B1/B2/B3/L1/L2/G1/G2 of three sets of navigation systems such as a GPS satellite navigation system, a beidou satellite system and a GLONASS satellite navigation system, and are used together with a satellite antenna, so that the satellite positioning device has small volume, light weight, strong satellite searching and positioning capabilities, and can be directly powered by a power supply.
Preferably, the station power of the first data transmission station and the second data transmission station can be adjusted according to the transmission distance, so that the data transmission is more accurate and the transmission efficiency is higher.
Preferably, data transmission can be performed between the satellite positioning mobile station and the communication system, and/or between the first satellite positioning unit and the first data transmission station, and/or between the second satellite positioning unit and the second data transmission station through serial port connection, so that the transmission speed is higher and more accurate.
According to the second aspect of the present invention, there is also provided a remote measurement method for a hydrological site, which is a remote measurement method performed by using the above remote measurement system, and includes the following steps:
s11: controlling the unmanned aerial vehicle platform to fly to a target water area and land on the water surface safely;
s12: measuring the water depth of the target water area by using the water depth measuring sensor to obtain water depth data, and transmitting the water depth data to a communication system;
s13: acquiring dynamic differential positioning data by adopting the satellite positioning base station and the satellite positioning mobile station, and transmitting the dynamic differential positioning data to the communication system;
s14: the communication system is adopted to transmit the water depth data and the dynamic differential positioning data to the cloud server for storage, so that the background processing system can check and process the data, and the field drift speed of the unmanned aerial vehicle platform of the target water area is calculated according to the dynamic differential positioning data;
s15: controlling the unmanned aerial vehicle platform to fly to a target ground for recovery.
Preferably, the processing by the background processing system in S14 includes: correcting the field drift velocity; further comprising:
and analyzing and calculating the data, and correcting the drift velocity of the unmanned aerial vehicle platform into field flow velocity by using a relation curve between the actual water flow velocity and the drift velocity of the unmanned aerial vehicle platform.
Preferably, the processing by the background processing system in S14 includes: and drawing a measuring path and a flow direction of the field according to the dynamic differential positioning data.
Compared with the prior art, the invention has the following advantages:
(1) according to the remote measurement system and method for the hydrological site, provided by the invention, the unmanned aerial vehicle platform provided with the floating body can land on the water surface for measurement, so that the water area which cannot be reached by hydrological operators becomes measurable; the flow and depth measurement can be carried out under various extreme and complex conditions instead of manpower, so that the manpower cost is saved, and various unsafe events can be avoided; the hydrological test data can be automatically acquired, remotely and automatically transmitted, automatically processed and analyzed, and decision support basis can be provided for a disaster disposal department at the highest speed on the premise of meeting the hydrological factor emergency monitoring precision;
(2) the remote measurement system and the remote measurement method for the hydrological site provided by the invention realize the synchronous measurement of geodetic coordinates, flow direction, flow velocity and water depth of a measuring point in a water body;
(3) according to the remote measurement system and method for the hydrological site, the unmanned aerial vehicle platform is stopped and landed in the target water area for measurement, so that the test time is remarkably prolonged, the contact type flow velocity measurement of the unmanned aerial vehicle platform and the water body is realized, and the measurement data is more accurate;
(4) according to the remote measurement system and method for the hydrological site, the measurement data are uploaded to the cloud server in real time, so that remote measurement is realized;
(5) according to the hydrological site remote measurement system and the hydrological site remote measurement method, dynamic differential positioning is formed between the satellite positioning base station and the satellite positioning mobile station, so that positioning is accurate, measurement accuracy is high, the measurement means is convenient and fast, and operation is simple and efficient.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
Embodiments of the invention are further described below with reference to the accompanying drawings:
fig. 1 is a schematic structural diagram of a remote measurement system of a hydrological site according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a remote measurement system for a hydrological site according to a preferred embodiment of the present invention;
FIG. 3 is a flow chart of a method for remote measurement of a hydrological site according to an embodiment of the present invention;
description of reference numerals: 1-an unmanned aerial vehicle platform, 2-a floating body, 3-a satellite positioning base station, 4-a satellite positioning mobile station, 5-a signal analysis unit, 6-a GPRS unit, 7-a water depth measurement sensor, 8-a cloud server and 9-a background processing system;
31-a first satellite positioning unit, 32-a first satellite antenna, 33-a first data transmission station, 34-a first station antenna, 35-a first power supply;
41-a second satellite positioning unit, 42-a second satellite antenna, 43-a second data transmission station, 44-a second station antenna, 45-a second power supply.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Fig. 1 is a schematic structural diagram of a remote measurement system at a hydrological site according to an embodiment of the present invention.
Referring to fig. 1, the remote measurement system for a hydrological site of the present embodiment includes: the system comprises a positioning depth measurement system, a signal analysis unit 5, a GPRS unit 6, a cloud server 8, a background processing system 9 and an unmanned aerial vehicle platform 1. Wherein, location sounding system includes: a water depth measuring sensor 7, a satellite positioning base station 3 and a satellite positioning mobile station 4. The unmanned aerial vehicle platform 1 is used for bearing a water depth measuring sensor 7 and a satellite positioning mobile station 4; when remote measurements need to be made, the drone platform 1 is used to fly to the target water area and land on the water surface to make measurements. The lower part of the unmanned aerial vehicle platform 1 is provided with a floating body 2, the floating body 2 is used for enabling the unmanned aerial vehicle platform to float on the water surface and freely and synchronously move along with water flow so as to obtain the field drift velocity of the unmanned aerial vehicle platform 1 in a target water area by measuring the drift velocity of the unmanned aerial vehicle platform 1 along with the water flow, and the velocity is corrected to obtain the field water flow velocity. The water depth measuring sensor 7 is used for measuring water depth and obtaining water depth data. The position of the satellite positioning base station 3 is fixed, and the satellite positioning mobile station 4 is arranged on the unmanned aerial vehicle platform 1 and moves along with the unmanned aerial vehicle platform 1; dynamic differential positioning is formed between the satellite positioning base station 3 and the satellite positioning mobile station 4, and the satellite positioning mobile station 4 is further used for calculating the field drift velocity of the unmanned aerial vehicle platform 1 in the target water area according to the dynamic differential positioning data. The signal analysis unit 5 and the GPRS unit 6 are arranged on the unmanned aerial vehicle platform 1 to form a communication system, the signal analysis unit 5 is used for receiving dynamic differential positioning data of a satellite positioning mobile station, field drift speed and water depth data of the water depth measurement sensor, uploading the data to a cloud server through the GPRS unit 6, and transmitting a control instruction stored in the cloud server to a positioning depth measurement system for execution; the cloud server 8 is used for storing the data uploaded by the communication system; the background processing system 9 is used for receiving the data stored by the cloud server 8, performing analysis calculation and result display, and uploading the control command to the cloud server.
For better assurance unmanned aerial vehicle platform landing safety and stability on the surface of water does not overturn, in this embodiment, the body is hollow cylinder body, and the axis of cylinder body is parallel with the plane of unmanned aerial vehicle platform, and the centre link up can make the water submerge, can maintain unmanned aerial vehicle platform 1's center more stable.
In the embodiment, the hollow part is in a cylindrical structure, and in different embodiments, the hollow part, namely the through volume, size and shape can be adjusted. In the preferred embodiment, the volume of hollow portion is decided by the load of unmanned aerial vehicle platform, and the load is heavier, and the volume of hollow portion is bigger, can also reach the purpose of adjusting the volume through adjusting length through the diameter of adjusting hollow portion, also can be through adjusting the shape, and diameter, length, the shape of the solid portion of corresponding body also can be adjusted, can make with materials such as high density pearl cotton.
In this embodiment, the number of the floating bodies 2 is two, but in different embodiments, one or more than two floating bodies may be provided.
In the preferred embodiment, the floating body 2 is made of high strength PMI foam.
In the preferred embodiment, the background processing system 9 is also used to correct the on-site flow rate stored by the cloud server 8. Specifically, it may be: and introducing a correction coefficient (obtained by experimental measurement), and multiplying the field drift speed stored in the cloud server by the correction coefficient to obtain the corrected field flow speed. In one embodiment, the method for obtaining the correction coefficient includes: the unmanned aerial vehicle platform of body has been adjusted in the laboratory basin, makes it can be in rivers stable drift, then carries out contrast measurement test, measures rivers velocity of flow and unmanned aerial vehicle platform drift velocity, and the point is painted the relation curve between them, obtains the velocity of flow correction coefficient.
In the preferred embodiment, the satellite positioning base station 3 includes: a first satellite positioning unit 31, a first satellite antenna 32, a first data transmission radio 33, a first radio antenna 34 and a first power supply 35; the satellite positioning mobile station includes: a second satellite positioning unit 41, a second satellite antenna 42, a second data transmission station 43, a second station antenna 44 and a second power supply 45, which are schematically shown in fig. 2. Wherein, the first satellite positioning unit 31 is configured to receive a first satellite positioning signal through the first satellite antenna 32; the first data transmission station 33 is connected to the first satellite positioning unit 31 for receiving the satellite positioning signal transmitted by the first satellite positioning unit 31, and the first power source 35 is used for supplying power to the first satellite positioning unit 31 and the first data transmission station 33. The first radio antenna 34 is connected to the first data transmission radio 33, the second radio antenna 44 is connected to the second data transmission station 43, and the second data transmission station 43 is configured to receive the first satellite positioning signal transmitted by the first data transmission radio 33 through the second radio antenna 44 and the first radio antenna 34; the second satellite positioning unit 41 is connected to the second data transmission station 43, and is configured to receive the second positioning signal through the second satellite antenna 42, and is further configured to receive the first satellite positioning signal transmitted by the second data transmission station 43, obtain a geodetic coordinate (longitude and latitude) of the unmanned aerial vehicle platform 1, and perform dynamic differential calculation on the second positioning signal according to the first satellite positioning signal, so as to obtain a dynamic differential positioning signal after the differential calculation; a second power supply 45 is used to power the second satellite positioning unit 41 and the second data transfer station 43.
In the preferred embodiment, the communication system is a GPRS communication system.
In the preferred embodiment, the first satellite positioning unit 31 and the second satellite positioning unit 41 can receive data of a GPS satellite navigation system, a beidou satellite system and a GLONASS satellite navigation system, and are used together with a satellite antenna, so that the satellite positioning device has the advantages of small volume, light weight, strong satellite searching and positioning capabilities, and can be directly powered by a power supply.
In the preferred embodiment, the first data transmission station 33 and the second data transmission station 43 use radio to transmit data, and the power of the stations can be adjusted according to the distance of the transmission, so that the data transmission is more accurate and the transmission efficiency is higher.
In the preferred embodiment, data transmission between the satellite positioning mobile station 4 and the communication system 6, and/or between the first satellite positioning unit 31 and the first data transmission station 33, and/or between the second satellite positioning unit 41 and the second data transmission station 43 can be performed through serial connections, so that the transmission speed is faster and more accurate.
Fig. 3 is a flowchart illustrating a method for remote measurement of a hydrological site according to an embodiment of the present invention.
Referring to fig. 3, the remote measurement method of the present embodiment is a measurement method based on the remote measurement system of the above embodiment, and includes the following steps:
s11: controlling the unmanned aerial vehicle platform to fly to a target water area and land on the water surface safely;
s12: measuring the water depth of the target water area by using a water depth measuring sensor to obtain water depth data, and transmitting the water depth data to a communication system;
s13: the method comprises the steps that a satellite positioning base station and a satellite positioning mobile station are adopted to obtain geodetic coordinates and dynamic differential positioning data of an unmanned aerial vehicle platform, the unmanned aerial vehicle freely and stably drifts along with the water flow direction, after the unmanned aerial vehicle moves for a certain distance, the average flow velocity of the unmanned aerial vehicle platform movement is calculated and transmitted to a communication system;
s14: the communication system is adopted to transmit the water depth data, the dynamic differential positioning data and the average flow velocity to the cloud server for storage so as to be checked and/or processed by the background processing system;
s15: and controlling the unmanned aerial vehicle platform to fly to a target ground for recovery.
In a preferred embodiment, the processing performed by the background processing system in S14 includes: and (4) processing of analysis and calculation of data, correction of field flow rate, graphic display and the like. (ii) a Further comprising: and introducing a correction coefficient, and multiplying the average flow speed by the correction coefficient to obtain the corrected field flow speed. In one embodiment, the method for obtaining the correction coefficient includes: the unmanned aerial vehicle platform of body has been adjusted in the laboratory basin, makes it can be in rivers stable drift, then carries out the contrast measurement test and obtains the velocity of flow correction coefficient.
In a preferred embodiment, the processing performed by the background processing system in S14 includes: and drawing a measuring path and a flow direction according to the dynamic differential positioning data.
In the above embodiment, the background processing system 9 may be: computer, I pad, mobile phone, etc.
Based on the remote measurement system and method of the hydrological field in the above embodiments, specific application examples are provided below to further understand the technical solution of the present invention.
Application example 1
In the embodiment, the system in the embodiment is adopted for carrying out remote synchronous test on site flow velocity and water depth on rivers with flow velocity of 1 m/s. Wherein,
the unmanned aerial vehicle platform 1 is a four-propeller unmanned aerial vehicle, the takeoff weight is 3.5kg, and the total weight of the unmanned aerial vehicle is 2 kg.
The floating body 2 is made of high-strength foam, has a hollow cylindrical section, and has an inner hollow circle with the diameter of 5cm, the outer diameter of 11cm and the length of 50 cm.
The satellite positioning unit mainly depends on a Beidou navigation system to perform positioning measurement, and the differential positioning precision is superior to 1 cm.
The satellite antenna adopts a rod-shaped satellite antenna with the diameter of 1cm and the length of 15 cm.
The transmission distance of the data transmission station is within 2 km.
The radio antenna adopts a rod antenna with the diameter of 1cm and the length of 10 cm.
The power supply is a rechargeable lithium battery and can output 24V, 12V and 5V direct current voltages.
The signal analysis unit has a length of 6cm and a width of 7 cm.
The GPRS communication unit adopts a mobile 4G flow card for network communication.
The measuring range of the water depth measuring sensor is 0-50 m.
The cloud server adopts an Aliyun Li nux lightweight server.
Firstly, completing the connection of a positioning base station, a positioning mobile station and a GPRS communication system, and fixing the positioning base station at a certain position; the unmanned aerial vehicle platform 1 is controlled to fly to a target water area and safely land on the water surface for contact measurement, and a positioning and depth sounding system is started for differential positioning and water depth measurement; and then the unmanned aerial vehicle freely and stably drifts along with the water flow movement direction, after the unmanned aerial vehicle moves for a certain distance, the satellite positioning mobile station 4 of the positioning and depth measuring system calculates the average flow velocity of the water flow movement and uploads the average flow velocity to the cloud server 8 through the GPRS communication system to be downloaded by a computer for checking data, the unmanned aerial vehicle can freely and synchronously move along with the water flow in the measuring process, and the unmanned aerial vehicle platform is controlled to automatically recover after the measurement is finished.
The unmanned aerial vehicle platform of body has been adjusted in the laboratory basin, makes it can be in rivers stable drift, then carries out contrast measurement test and obtains velocity of flow correction coefficient 1.15 ~ 1.21, and the average velocity of flow motion then equals the product of velocity of flow correction coefficient 1.15 ~ 1.21 and drift speed along with the rivers. Meanwhile, in a computer networking state, the background processing system 9 is opened to remotely check the current geodetic coordinate position, the measurement track, the current measurement flow velocity and flow direction, the water depth information and the like of the equipment.
Application example 2
The embodiment provides remote synchronous test of site flow velocity and water depth for rivers with flow velocity of 3m/s, and adopts the system in the embodiment. Wherein,
the unmanned aerial vehicle platform 1 is a four-propeller unmanned aerial vehicle, the takeoff weight is 5.5kg, and the total weight of the unmanned aerial vehicle is 4 kg.
The floating body 2 is made of high-strength foam, has a hollow cylindrical section, and has an inner hollow circle with the diameter of 8cm, the outer diameter of 15cm and the length of 60 cm.
The satellite positioning unit mainly depends on a GPS navigation system to carry out positioning measurement, and the differential positioning precision is superior to 1 cm.
The satellite antenna is a mushroom-shaped satellite mapping antenna, and is 7cm long, 5cm wide and 4cm high.
The transmission distance of the data transmission station is within 6 km.
The radio station antenna adopts a cylindrical spiral antenna, has the diameter of 3cm and the length of 15cm, and is provided with a magnetic chassis.
The measuring range of the water depth measuring sensor is 0-100 m.
The other components are the same as those used in embodiment 1 described above.
The working process is that firstly, the positioning and sounding system (including a positioning base station and a positioning mobile station) and the GPRS communication system are connected and finished, and the positioning base station is fixed at a certain position; the unmanned aerial vehicle is controlled to fly to a target water area and safely land on the water surface for contact measurement, and a positioning and depth sounding system is started for differential positioning and water depth measurement; and then the unmanned aerial vehicle freely and stably drifts along with the water flow movement direction, after the unmanned aerial vehicle moves for a certain distance, a positioning mobile station of the positioning depth measurement system calculates the average flow velocity of the water flow movement and uploads the average flow velocity to a cloud server through a GPRS communication system to be downloaded by a computer for checking data, the unmanned aerial vehicle can freely and synchronously move along with the water flow in the measurement process, and the unmanned aerial vehicle platform is controlled to automatically recover after the measurement is finished.
Adjusting an unmanned aerial vehicle platform of the floating body in a water tank of a laboratory to enable the platform to stably drift in water flow, then carrying out a contrast measurement test to obtain a flow velocity correction coefficient of 1.23, wherein the average flow velocity of water flow motion is equal to the product of the flow velocity correction coefficient of 1.23 and drift velocity along with the water flow; and meanwhile, in a computer networking state, opening software to remotely check the current position, the measurement track, the flow speed and direction and the current measured water depth information of the equipment.
The two application examples realize the synchronous measurement of the flow velocity and the water depth within the range of 1m/s and 3m/s of the flow velocity and 100m of the water depth; the computer terminal of the measuring path, the measuring flow speed and the water depth information displays, and the measuring data is transmitted in real time through a network; during measurement, the unmanned aerial vehicle stops flying, so that the electric quantity is saved, and the test time is obviously prolonged; the contact type flow velocity measurement of the unmanned aerial vehicle platform and the water body is realized, and data can be uploaded to a cloud server in real time, so that remote measurement is realized; the measurement accuracy is higher, and the measurement means is more convenient, and easy operation is high-efficient.
It can be seen from the above embodiments that the technical scheme of the invention enables the water area which cannot be reached by the hydrological workers to be measurable; the flow and depth measurement can be carried out under various extreme and complex conditions instead of manpower, so that the manpower cost is saved, and various unsafe events can be avoided; the hydrological test data acquisition and processing system realizes automatic acquisition, remote automatic transmission and automatic processing and analysis of hydrological test data, and can provide decision support basis for disaster disposal departments at the highest speed on the premise of meeting the hydrological factor emergency monitoring precision.
The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and not to limit the invention. Any modifications and variations within the scope of the description, which may occur to those skilled in the art, are intended to be within the scope of the invention.
Claims (10)
1. A remote measurement system for a hydrological field, comprising: the system comprises a positioning depth measurement system, a communication system, a cloud server, a background processing system and an unmanned aerial vehicle platform; the positioning and depth-sounding system comprises: the system comprises a water depth measuring sensor, a satellite positioning base station and a satellite positioning mobile station; wherein,
the unmanned aerial vehicle platform is used for bearing the bathymetric sensor and the satellite positioning mobile station; when remote measurement is needed, the unmanned aerial vehicle platform is used for flying to a target water area and landing on the water surface to carry out measurement;
a floating body is arranged below the unmanned aerial vehicle platform and used for enabling the unmanned aerial vehicle platform to float on the water surface and freely and synchronously move along with water flow so as to obtain the field flow velocity of the target water area by measuring the drift velocity of the unmanned aerial vehicle platform along with the water flow;
the water depth measuring sensor is used for measuring water depth to obtain water depth data;
the position of the satellite positioning base station is fixed, and the satellite positioning mobile station is arranged on the unmanned aerial vehicle platform and moves along with the unmanned aerial vehicle platform; dynamic differential positioning is formed between the satellite positioning base station and the satellite positioning mobile station, and the satellite positioning mobile station is further used for calculating the field drift velocity of the unmanned aerial vehicle platform of the target water area according to the dynamic differential positioning data;
the communication system is arranged on the unmanned aerial vehicle platform and comprises a signal analysis unit and a communication unit; the signal analysis unit is used for receiving the dynamic differential positioning data and the water depth data, sending the obtained data to the cloud server through the communication unit, and receiving a control instruction of the background processing system through the cloud server; (ii) a
The cloud server is used for storing the dynamic differential positioning data sent by the communication system, the field drift speed of the unmanned aerial vehicle platform, the water depth data and the control command of the background processing system;
the background processing system is used for receiving the data stored by the cloud server, analyzing, calculating and displaying a graph, and sending a control instruction to the positioning and depth sounding system to control the positioning and depth sounding system to start testing or stop testing.
2. The remote measuring system of the hydrographic site of claim 1, wherein the float is a float having a density less than water.
3. The remote measuring system of the hydrographic field of claim 2, wherein the float is a hollow cylinder having an axis parallel to the plane of the drone platform.
4. The remote measuring system of the hydrological field according to claim 3, wherein the volume of the hollow portion of the cylindrical buoyant body is determined by the weight of the drone platform, the heavier the weight of the drone platform, the greater the volume of the hollow portion of the cylindrical buoyant body.
5. The remote hydrographic field measurement system of claim 1, wherein the background processing system is further configured to correct the cloud server stored field drift velocity of the drone platform.
6. The remote measuring system for the hydrographic site according to claim 5, wherein the background processing system corrects the site drift velocity stored by the cloud server by: and introducing a relation curve between the actual water flow velocity and the drift velocity of the unmanned aerial vehicle platform as a correction coefficient, and multiplying the field drift velocity stored in the cloud server by the correction coefficient to obtain the corrected field flow velocity.
7. The system according to any one of claims 1 to 6, wherein the satellite positioning base station comprises: the system comprises a first satellite positioning unit, a first satellite antenna and a first data transmission radio station; wherein,
the first satellite positioning unit is used for receiving a first satellite positioning signal through a first satellite antenna;
the first data transmission radio station is connected with the first satellite positioning unit and used for receiving the satellite positioning signals transmitted by the first satellite positioning unit and continuously broadcasting and transmitting data to the outside in a radio signal mode;
the satellite positioning mobile station includes: the system comprises a second satellite positioning unit, a second satellite antenna and a second data transmission radio station; wherein,
the second data transmission radio station is connected with the second satellite positioning unit and used for receiving a first satellite positioning signal transmitted by the first data transmission radio station and transmitting data to the second satellite positioning unit;
and the second satellite positioning unit receives a second positioning signal through a second satellite antenna, and performs differential positioning calculation according to the obtained first satellite positioning signal to obtain high-precision longitude and latitude coordinates.
8. A remote measurement method of a hydrological site, which is a remote measurement method using the remote measurement system of the hydrological site of any one of claims 1 to 7, comprising the steps of:
s11: controlling the unmanned aerial vehicle platform to fly to a target water area and land on the water surface safely;
s12: measuring the water depth of the target water area by using the water depth measuring sensor to obtain water depth data, and transmitting the water depth data to a communication system;
s13: acquiring dynamic differential positioning data by adopting the satellite positioning base station and the satellite positioning mobile station, and transmitting the dynamic differential positioning data to the communication system;
s14: the communication system is adopted to transmit the water depth data and the dynamic differential positioning data to the cloud server for storage, so that the background processing system can check and process the data, and the field drift speed of the unmanned aerial vehicle platform of the target water area is calculated according to the dynamic differential positioning data;
s15: controlling the unmanned aerial vehicle platform to fly to a target ground for recovery.
9. The method for remote measurement of a hydrological site according to claim 8, wherein the processing by the background processing system in S14 includes: correcting the field drift velocity; further comprising:
and analyzing and calculating the data, and correcting the drift velocity of the unmanned aerial vehicle platform into field flow velocity by using a relation curve between the actual water flow velocity and the drift velocity of the unmanned aerial vehicle platform.
10. The method for remote measurement of a hydrological site according to claim 8, wherein the processing by the background processing system in S14 includes: and drawing a measuring path and a flow direction of the field according to the dynamic differential positioning data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910775539.7A CN110514182A (en) | 2019-08-21 | 2019-08-21 | A kind of long-range survey system and method at hydrology scene |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910775539.7A CN110514182A (en) | 2019-08-21 | 2019-08-21 | A kind of long-range survey system and method at hydrology scene |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110514182A true CN110514182A (en) | 2019-11-29 |
Family
ID=68627183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910775539.7A Pending CN110514182A (en) | 2019-08-21 | 2019-08-21 | A kind of long-range survey system and method at hydrology scene |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110514182A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110927403A (en) * | 2019-12-05 | 2020-03-27 | 孙永华 | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera |
| CN112595289A (en) * | 2020-12-30 | 2021-04-02 | 广东建瀚工程管理有限公司 | Road settlement observation system and method |
| CN114001718A (en) * | 2021-10-12 | 2022-02-01 | 山东华特智慧科技有限公司 | Hydrological monitoring method and system based on intelligent flow measuring robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107462908A (en) * | 2017-07-01 | 2017-12-12 | 湖南翼航无人机科技有限公司 | A kind of earth station is used for the alignment system and its method of unmanned plane |
| CN109178305A (en) * | 2018-09-11 | 2019-01-11 | 武汉云衡智能科技有限公司 | A kind of amphibious unmanned plane of hydrologic monitoring and hydrologic monitoring method |
| KR20190019336A (en) * | 2017-08-17 | 2019-02-27 | 대우조선해양 주식회사 | Measurement and control device of ship water line |
| US20190137270A1 (en) * | 2017-11-07 | 2019-05-09 | Ross McArthur | System and method for monitoring underwater organic solid buildup and related emissions background |
| CN110100149A (en) * | 2016-12-27 | 2019-08-06 | 索尼公司 | Survey label, image processing apparatus, image processing method and program |
-
2019
- 2019-08-21 CN CN201910775539.7A patent/CN110514182A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110100149A (en) * | 2016-12-27 | 2019-08-06 | 索尼公司 | Survey label, image processing apparatus, image processing method and program |
| CN107462908A (en) * | 2017-07-01 | 2017-12-12 | 湖南翼航无人机科技有限公司 | A kind of earth station is used for the alignment system and its method of unmanned plane |
| KR20190019336A (en) * | 2017-08-17 | 2019-02-27 | 대우조선해양 주식회사 | Measurement and control device of ship water line |
| US20190137270A1 (en) * | 2017-11-07 | 2019-05-09 | Ross McArthur | System and method for monitoring underwater organic solid buildup and related emissions background |
| CN109178305A (en) * | 2018-09-11 | 2019-01-11 | 武汉云衡智能科技有限公司 | A kind of amphibious unmanned plane of hydrologic monitoring and hydrologic monitoring method |
Non-Patent Citations (1)
| Title |
|---|
| 姜若松 等: "无人机低空摄影在内河航道信息化的应用", 《中国水运》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110927403A (en) * | 2019-12-05 | 2020-03-27 | 孙永华 | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera |
| CN110927403B (en) * | 2019-12-05 | 2021-02-09 | 孙永华 | Unmanned aerial vehicle water flow velocity measuring system and method based on optical camera |
| CN112595289A (en) * | 2020-12-30 | 2021-04-02 | 广东建瀚工程管理有限公司 | Road settlement observation system and method |
| CN114001718A (en) * | 2021-10-12 | 2022-02-01 | 山东华特智慧科技有限公司 | Hydrological monitoring method and system based on intelligent flow measuring robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110453731B (en) | Dam slope deformation monitoring system and method | |
| CN111288963B (en) | High-risk deformable body GNSS monitoring terminal non-contact throwing device and method | |
| CN110395390B (en) | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device and method | |
| CN110514182A (en) | A kind of long-range survey system and method at hydrology scene | |
| CN108572379B (en) | Communication base station site selection exploration method based on unmanned aerial vehicle | |
| US12111155B2 (en) | Systems and methods for measuring water capacity of polar lakes | |
| CN110441314A (en) | Bridge beam slab bottom surface inspection system based on unmanned plane automatic scanning | |
| Wing et al. | Vertical measurement accuracy and reliability of mapping-grade GPS receivers | |
| CN114153225A (en) | Unmanned aerial vehicle high-precision landing control system and method based on RTK and RFID technology | |
| CN113640848A (en) | Ground laser footprint data acquisition method, system, medium and equipment of unmanned aerial vehicle | |
| Retscher et al. | Integration of RFID, GNSS and DR for ubiquitous positioning in pedestrian navigation | |
| RU2727315C1 (en) | Method of determining averaged values of meteorological parameters in the boundary layer of the atmosphere | |
| CN211552852U (en) | High-risk deformable body GNSS monitoring terminal non-contact throwing device | |
| CN219626119U (en) | Highway side slope monitoring and early warning system | |
| RU2600519C1 (en) | Method for determination of averaged values of wind speed and direction | |
| CN107505634A (en) | A kind of landslide early-warning system based on Centimeter Level high accuracy satellite positioning tech | |
| Abdulaal et al. | Unmanned Aerial Vehicle based flash flood monitoring using Lagrangian trackers | |
| Hu et al. | Three-Dimensional Reconstruction and Geo-Positioning Accuracy Analysis Based on UAV Remote Sensing Images | |
| CN216083500U (en) | Airborne dynamic differential GPS auxiliary system of high prototype unmanned aerial vehicle | |
| Kim et al. | A Study on Measurement System for Water Volume of the Reservoir using Drone and Sensors | |
| Farjas Abadía et al. | Design and Development of a Low-Cost Aerial Mobile Mapping System for Multi-Purpose Applications. | |
| Thanh et al. | Creation and Assessment of a Topographic Map from Unmanned Aerial Vehicle Data in Thanh Son District, Vietnam. | |
| Nakajima | Radiation distribution measurements in Fukushima prefecture | |
| Ivanov | PRINCIPLES OF GNSS: PRINCIPLES OF GNSS | |
| Hsiao et al. | Development of a Low-Cost Unmanned Aerial Vehicle Using Mini-Airship Structure for Acquiring Digital Image Platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191129 |