CN112198538A - Beidou-based field reconnaissance personnel safety monitoring method and system - Google Patents
Beidou-based field reconnaissance personnel safety monitoring method and system Download PDFInfo
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Abstract
The invention discloses a Beidou-based field reconnaissance personnel safety monitoring method and a Beidou-based field reconnaissance personnel safety monitoring system, wherein the method comprises the following steps of: issuing a field investigation task to a north-fighting monitoring terminal through a monitoring server; positioning field reconnaissance personnel carrying the Beidou monitoring terminal in real time through the Beidou monitoring terminal; the state of field reconnaissance personnel in executing a field reconnaissance task is monitored in real time through a Beidou monitoring terminal; under the trigger of field reconnaissance personnel, the Beidou monitoring terminal sends alarm information to the monitoring server; the monitoring server generates an activity track according to the received positioning information; and checking the movement track of the field reconnaissance personnel through the Web end. The invention records the real-time positioning and equipment information of the field reconnaissance personnel based on the Beidou satellite navigation system, and can effectively improve the compliance of the safety supervision of the field reconnaissance personnel in engineering projects; the position and time of the field reconnaissance personnel are accurately positioned through the movement track, and the movement range of the field reconnaissance personnel is visually presented by using the graph.
Description
Technical Field
The invention relates to the technical field of engineering investigation, in particular to a Beidou-based field reconnaissance personnel safety monitoring method and system.
Background
With the continuous development of the construction of the traffic infrastructures such as roads, railways and the like in China, key areas of the construction of large infrastructures are deepened and shifted from eastern areas and developed coastal areas to western areas in China, the natural environment of the construction is complex, and the construction is particularly characterized in that the mileage of the engineering spanning areas is long, the terrain, geology, hydrology and vegetation along the line are various and complex, the engineering spanning areas are required to be deepened into mountains, canyons, compact forests and deserts frequently, the field investigation operation period is long, the labor intensity is high, and the construction can encounter sudden natural disasters and even dangerous situations such as armed war or ethnic conflict in overseas places. In a part of regions uncovered by communication signals, especially under the current increasingly tense international political environment background, the field investigation operation may face the risk of signal shutdown or man-made interference of foreign satellite positioning navigation systems (GPS, Galileo and GLONASS), once a dangerous situation occurs, safety management and rescue personnel are difficult to accurately master the site and real-time condition of the field investigation personnel in danger, so that the rescue work is delayed, and the life safety, engineering construction cost and progress of the field investigation personnel are seriously influenced.
The difficulty that exists in the state monitoring of present field reconnaissance personnel and the safety guarantee: (1) based on the conventional positioning mode of GPS and WLAN, the working position and state of field reconnaissance personnel are difficult to monitor in real time in the areas with missing or weak conventional communication signals; (2) when a field reconnaissance person encounters a potential environmental hazard, timely safety early warning cannot be provided for the field reconnaissance person, and reliable, timely and accurate rescue information support and safety guarantee cannot be provided; (3) absent activity trace-based data analysis, project managers and family members are difficult to view and analyze the work traces and safety status of field surveyors.
At present, the successful transmission of the last global networking satellite of the third Beidou satellite can provide time service, navigation and short message communication service covering the world, and the intelligent terminal and the mobile internet technology are also rapidly developed, so that the informationization, intelligentization and modernization development of the field exploration industry can be promoted.
Disclosure of Invention
The invention aims to provide a Beidou-based field reconnaissance personnel safety monitoring method and system, and provides accurate and reliable safety production guarantee for field highway reconnaissance personnel.
In order to achieve the purpose, the Beidou-based field reconnaissance personnel safety monitoring method comprises the following steps of: step 1), issuing a field investigation task to a Beidou monitoring terminal through a monitoring server; step 2), positioning field reconnaissance personnel carrying the Beidou monitoring terminal in real time through the Beidou monitoring terminal; step 3), monitoring the state of the field reconnaissance personnel in real time when the field reconnaissance personnel execute the field reconnaissance task through the Beidou monitoring terminal; step 4), under the trigger of field reconnaissance personnel, the Beidou monitoring terminal sends alarm information to a monitoring server; step 5), the monitoring server generates an activity track according to the received positioning information; and 6) checking the motion track of the field reconnaissance personnel through the Web end.
As a preferred embodiment, the step 1) further comprises the steps of:
step 1.1), the monitoring server generates a safe region range of the field investigation task according to the field investigation task, and marks different investigation places by using symbols.
Step 1.2), dividing the field investigation task by taking field investigation personnel as a unit, giving ID to the field investigation task, and assigning corresponding ID of the field investigation task, a corresponding investigation place and a corresponding safety region to each field investigation personnel;
step 1.3), according to the ID of the field investigation task, the monitoring server issues the field investigation task to the Beidou monitoring terminal;
and step 1.4), acquiring a distributed field investigation task by field reconnaissance personnel at the Beidou monitoring terminal.
As a preferred embodiment, the step 2) further comprises a step 2.1) of positioning field reconnaissance personnel in real time:
taking a high-resolution image map as a geographical base map, and downloading an off-line map, an image map and a task related information map layer on the Beidou monitoring terminal;
the Beidou monitoring terminal records the position of a field reconnaissance worker and related information of the Beidou monitoring terminal every other fixed time interval and stores the position and the related information into a local database positioning information table;
the record information comprises an ID of a field reconnaissance worker, an ID of a field reconnaissance task, longitude and latitude, elevation and electric quantity of a Beidou monitoring terminal, and the longitude and latitude and the elevation are obtained in the following modes: and searching Beidou satellite signals to determine the specific position of the satellite with strong signals and the distance between the satellite with strong signals and the Beidou monitoring terminal according to the strength of the signals, and calculating the longitude and latitude and elevation information of the Beidou monitoring terminal held by field reconnaissance personnel.
As a preferred embodiment, in the step 2.1), the latitude and longitude and the elevation of the beidou monitoring terminal held by the field reconnaissance personnel are calculated as follows:
the geometric distance r from the Beidou monitoring terminal to the Beidou satellite is expressed as follows:
the three-dimensional coordinates of the Beidou monitoring terminal are (X, Y and Z), the three-dimensional coordinates of the Beidou satellite in the air are (Xs, Ys and Zs), c is the light speed, Vs is the satellite clock error, and V is the Beidou monitoring terminal clock error;
when there are four or more big dipper satellites, the following equations are used:
and solving the position coordinate and the clock difference of the Beidou monitoring terminal.
As a preferred embodiment, the step 2) further includes a step 2.2) of uploading the positioning data to the monitoring server:
after the positioning data stored in a local database positioning table of the Beidou monitoring terminal is converted into a JSON data format, synchronizing the positioning data with a database of a monitoring server end by comparing the attribute of the timestamp;
and (4) monitoring server data decoding, wherein the timestamp attribute is used for judging whether the positioning data is uploaded or not.
As a preferred embodiment, the step 3) further includes a step 3.1), the Beidou monitoring terminal judges the position relationship between the position of the field reconnaissance personnel and the position of the safe area according to the positioning information to give a prompt of the safe state, and judges whether the person leaves the safe area:
the Beidou monitoring terminal calculates the distance between the current position of the field reconnaissance personnel and each side of the safe area in real time, and gives corresponding prompts according to the minimum distance;
and if the position of the field reconnaissance personnel is judged not to be in the safe area according to the positioning information, the step 3.1.1) is carried out, and the Beidou monitoring terminal gives a prompt whether to give an alarm or not.
As a preferred embodiment, in the step 3.3.1), after the alarm is confirmed, the Beidou monitoring terminal sends alarm information to the monitoring server through the Beidou short message.
As a preferred embodiment, the step 3) further includes a step 3.2) of setting a corresponding moving distance early warning threshold according to the average moving speed of the field surveyor, and judging whether the moving distance of the field surveyor is within the moving distance threshold range:
calculating the average moving speed according to the positioning information of the field reconnaissance personnel within a period of working time and setting a corresponding moving distance prompt threshold;
and if the moving distance of the field reconnaissance personnel is determined according to the two positioning points, if the moving distance is not within the moving distance threshold range, the step 3.2.1) is carried out, and the Beidou monitoring terminal gives a safety early warning.
As a preferred embodiment, in the step 4), the Beidou monitoring terminal automatically acquires time, longitude and latitude and elevation information and sends the time, longitude and latitude and elevation information to the monitoring server.
As a preferred embodiment, in the step 5), a large number of repeated redundant points exist in the positioning information table of the monitoring server, the redundant points are removed by adopting a douglas-pock algorithm, and a new data set is stored in the display data table; and according to the activity time of the field reconnaissance personnel, publishing the positioning information into a track map layer.
As a preferred embodiment, the step 6) further comprises:
step 6.1), extracting the activity track data from the monitoring server;
and 6.2) displaying the activity track in a thermodynamic diagram at the Web end.
As a preferred embodiment, in the step 6.1), the Web end sends a request for inquiring the activity track data of the field surveyor to the monitoring server end; the monitoring server extracts a data set of the field prospecting personnel in a corresponding time period from the display data table according to the field prospecting task ID, the field prospecting personnel ID and the query time range, and analyzes the data set into motion track data according to the time sequence; the monitoring server verifies the situation of the activity track data by comparing the timestamp attribute with the Beidou monitoring terminal display data table.
As a preferred embodiment, in the step 6.2), the historical track data of the field surveyor is published and superposed on the image map or the line drawing map as a map layer so as to view the historical track of the field surveyor on the Web-end geographical base map; presenting the range of motion, the observation position and the observation duration of field reconnaissance personnel in a thermodynamic diagram mode; the thermodynamic diagram adopts an anchor point technology to represent the relative position of each display point between screens with different resolutions; thermodynamic diagrams employ density functions to render and superimpose different transparencies.
In the step 6.2), in the process of displaying the thermodynamic diagram, the conversion of the track coordinates between the positioning coordinates WGS-84 geographical coordinate system of the field surveyor and the plane coordinate system displayed on the screen is completed by using a map projection formula:
the height and width of the screen are respectively screen height and screen width, the range of the geographic coordinate region is (maxLon, minLon, maxLat, minLat), and T is 3600.
In step 6.2), the calculation formula of the center position (x, y) of the current screen when the thermodynamic diagram is displayed is as follows:
the default screen height and width are OriginScreenWidth and OriginScreenHeight respectively, the current screen height and width are NowScreenWidth and NowScreenHeight, and the center position of the object a on the default screen is (originX, originY).
As a preferred embodiment, in step 6.2), when the thermodynamic diagram is drawn, each positioning data is mapped to a circle with gradually changing transparency from the center to the outside, and by using the principle of transparency superposition, the transparency value obtained by cross-superposing the data of each pixel point is calculated according to the following formula:
wherein, Count is the weight of the data point, minCount and maxCount are the minimum and maximum values in the weight of the data point.
In order to achieve the purpose, the system adopting the Beidou-based field reconnaissance personnel safety monitoring method comprises a monitoring server, a Beidou monitoring terminal and a Web end, wherein the Beidou monitoring terminal is carried by a field reconnaissance personnel, the monitoring server is arranged in a command center provided with a commander, and the Web end is communicated with the monitoring server after logging in through terminal equipment.
As an optimal implementation mode, the Beidou monitoring terminal is provided with a Beidou positioning module and a voice recognition module, and the voice recognition module recognizes the voice input of field reconnaissance personnel and converts the voice input into character information.
The invention has the beneficial effects that: the Beidou-based field reconnaissance personnel safety monitoring method and system are based on the Beidou satellite navigation system, record the real-time positioning and equipment information of field reconnaissance personnel, and can effectively improve the adaptability and the timeliness of the safety supervision of the field reconnaissance personnel when the signals of a foreign satellite positioning navigation system are interrupted or interfered in engineering projects and the intellectualization and the timeliness of safety guarantee management based on a cloud end; adopting a Douglas-Puck algorithm to remove redundant data in the positioning data in a database of the monitoring server, storing a newly generated data set into a display data table, and issuing the data set into a track layer which can be viewed on a geographical base map; according to the field investigation task, presetting a safe region and a field investigation task, and setting a safe alarm threshold value according to the average moving distance of the investigation personnel, so as to provide a timely safe early warning for the field investigation personnel: the position and time of the field reconnaissance personnel in distress are accurately positioned through the track playback function, and the information of the field reconnaissance personnel such as the range of motion, the observation position and the observation duration is visually presented by using a thermodynamic diagram mode.
Drawings
FIG. 1 is a flow chart of a Beidou based field reconnaissance personnel safety monitoring method in a preferred embodiment of the invention;
FIG. 2 is a schematic view of a safety range polygonal region in the Beidou based field reconnaissance personnel safety monitoring method in FIG. 1;
FIG. 3 is a schematic diagram of survey site symbol types in the Beidou based field survey personnel safety monitoring method in FIG. 1;
FIG. 4 is a schematic diagram of a Beidou satellite signal;
FIG. 5 is a schematic diagram of the field attributes of the positioning information table in the Beidou based field reconnaissance personnel safety monitoring method in FIG. 1;
FIG. 6 is a schematic diagram of danger early warning in the Beidou based field reconnaissance personnel safety monitoring method in FIG. 1;
FIG. 7 is a schematic diagram of an alarm prompt in the Beidou based field reconnaissance personnel safety monitoring method in FIG. 1;
FIG. 8 is a schematic diagram of track compression in the Beidou based field reconnaissance personnel safety monitoring method of FIG. 1;
FIG. 9 is a schematic diagram showing information of field surveyors in historical tracks in the Beidou based field surveyor safety monitoring method in FIG. 1;
FIG. 10 is a schematic diagram illustrating a thermodynamic diagram generation principle in the Beidou based field reconnaissance personnel safety monitoring method in FIG. 1;
FIG. 11 is a schematic diagram illustrating thermodynamic diagram effects in the Beidou based field reconnaissance personnel safety monitoring method in FIG. 1;
fig. 12 is a schematic diagram of historical track condition query in the Beidou-based field reconnaissance personnel safety monitoring method in fig. 1.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
Aiming at the defects or improvement requirements of the prior art, the invention provides a Beidou-based field reconnaissance personnel safety monitoring method and system, and provides an all-dimensional and three-dimensional safety production guarantee method for field highway reconnaissance personnel.
As shown in fig. 1, a preferred embodiment of the present invention provides a Beidou based method and a Beidou based system for monitoring the safety of field reconnaissance personnel, wherein the method comprises the following steps:
step 1), issuing a field investigation task to the Beidou monitoring terminal through a monitoring server.
Step 1.1), the monitoring server generates a safe region range of the field investigation task according to the field investigation task, and marks different investigation places by using symbols.
According to the requirements of field exploration tasks, a safety range polygonal area (as shown in fig. 2) is generated by using a linear long and narrow road as a central line and using buffer area analysis, as shown in fig. 3, different symbol graphs which are obvious and have strong warning capacity are designed and distinguished, the positions of exploration sites such as landslides, debris flows, collapses, ground cracks, ground subsidence and the like are marked, and part of symbols are marked in the exploration area of fig. 2.
And 1.2), dividing the field investigation task by taking field investigation personnel as a unit, giving ID to the field investigation task, and assigning corresponding ID of the field investigation task, a corresponding investigation place and a corresponding safety region to each field investigation personnel.
And distributing field survey task IDs to be executed for each field survey worker at the monitoring server side, and binding the survey site and the safety region map layers.
And step 1.3), according to the ID of the field investigation task, the monitoring server issues the field investigation task.
According to the field investigation task ID, a safety region, an investigation place and an acquisition task are issued to form a layer and are superposed on a geographical base map, and a monitoring server issues a corresponding task file through a GeoServer service.
The method includes the steps that layer files of a survey place, a safety region and the like can be manufactured through professional manufacturing software (such as ArcGIS) and the like and then uploaded to a GeoServer monitoring server, and the layer files can also be manufactured in the GeoServer, then corresponding layers are bound and released, and the layers are displayed on a geographical base map in an overlapped mode.
And step 1.4), the field reconnaissance personnel obtain the distributed field reconnaissance tasks at the Beidou monitoring terminal.
According to the ID of the field investigation task and the ID of field investigation personnel, the Beidou monitoring terminal updates task data and then acquires corresponding information, and corresponding layer information is displayed.
And step 2), positioning field reconnaissance personnel carrying the Beidou monitoring terminal through the Beidou monitoring terminal.
And 2.1) positioning field reconnaissance personnel in real time.
High-resolution image maps are issued as geographical base maps through the GeoServer, and field reconnaissance personnel can download image layers such as off-line maps, image maps and task related information on the Beidou monitoring terminal, so that the normal work under the field environment with extremely poor communication conditions is ensured.
The Beidou monitoring terminal searches for Beidou satellite signals, determines the specific position of the satellite with strong signals and the distance between the satellite with strong signals and the Beidou monitoring terminal according to the strength of the signals (as shown in figure 4), and finally calculates the latitude and longitude and elevation information of the Beidou monitoring terminal held by field reconnaissance personnel according to a formula.
The geometric distance r from the Beidou monitoring terminal to the satellite with the known quantity can be expressed as follows:
and setting the three-dimensional coordinate of the Beidou monitoring terminal as a quantity to be solved (X, Y and Z), the three-dimensional coordinate of the satellite in the air as a known quantity (Xs, Ys and Zs), c as the light speed, Vs as the satellite clock error, and V as the Beidou monitoring terminal clock error, and listing the following equation set when four or more satellites exist to obtain the position coordinate and the clock error of the Beidou monitoring terminal.
The Beidou monitoring terminal records the position of the field reconnaissance personnel and related information of the Beidou monitoring terminal at regular time intervals (such as 1 minute), wherein the related information comprises the ID of the field reconnaissance personnel, the ID of a field reconnaissance task, longitude and latitude, elevation, the electric quantity of the Beidou monitoring terminal and the like, the information is stored in a local database positioning information table, and then the information is transmitted to a database of a command center monitoring server.
And 2.2) uploading the positioning data to the monitoring server.
According to the field investigation task, the field investigation task content of each field investigation personnel is set, the binding of the positioning information with the field investigation task ID and the field investigation personnel ID is completed, the field investigation personnel complete the collection of the information, the picture and the audio and video content in the field investigation process, and the positioning data stored in the local database positioning table of the Beidou monitoring terminal realizes the synchronization with the database of the monitoring server end by comparing the timestamp attribute.
The positioning data is firstly stored in a positioning information table of a local database of the Beidou monitoring terminal, and synchronization with a positioning information table of a monitoring server side database is realized by comparing the attributes of the timestamps. The two field attributes are corresponding, and the setting of the field attribute of the positioning information table is shown in fig. 5.
The Beidou monitoring terminal converts attributes and numerical values in a local database positioning table into a JSON data format, the positioning data is uploaded to a monitoring server, corresponding data decoding is completed by a monitoring server program, and the timestamp attribute is used for judging whether the data is uploaded or not. An example JSON data format is as follows:
and step 3), monitoring the state of the field reconnaissance personnel in executing the field reconnaissance task in real time through the Beidou monitoring terminal.
And 3.1), the Beidou monitoring terminal judges the position relation between the position of the field reconnaissance personnel and the position of the safe area according to the positioning information to give a safe state prompt and judges whether the field reconnaissance personnel leaves the safe area.
The Beidou monitoring terminal judges the relationship between the position of the field reconnaissance personnel and the safe region in real time and gives different safe state prompts. Specifically, the Beidou monitoring terminal calculates the distance between the current position of the field reconnaissance personnel and each side of the safe area in real time, gives corresponding prompts according to the minimum value, such as 'about to enter a dangerous area', 'at the safe area', and the like, and timely gives prompts to the field reconnaissance personnel, so that the danger caused by unsmooth communication and untimely early warning is reduced. Fig. 6 shows the warning prompt after the field reconnaissance personnel enter the dangerous area.
And if the position of the field reconnaissance personnel is not in the safe area according to the positioning information, entering the step 3.1.1).
And step 3.1.1), the Beidou monitoring terminal gives an alarm prompt.
When the Beidou monitoring terminal detects that the field reconnaissance personnel cross the safe area and enter the unnamed dangerous area, the Beidou monitoring terminal automatically sends information such as the position of the field reconnaissance personnel, the time of entering the dangerous area, the electric quantity of the Beidou monitoring terminal and the like, gives an alarm prompt (as shown in figure 7), and automatically alarms after set time (as after 10 seconds). The field reconnaissance personnel can also cancel the alarm or select the immediate alarm, and the Beidou monitoring terminal sends alarm information to the monitoring server through the Beidou short message after the alarm is confirmed.
And 3.2) setting a corresponding moving distance early warning threshold according to the average moving speed of the field surveyor, and judging whether the moving distance of the field surveyor is within the moving distance threshold range.
And calculating the average moving speed according to the positioning information of the field reconnaissance personnel within the latest working time (such as within 3 minutes), and setting a corresponding moving distance prompt threshold. The upper threshold is the distance moved within a period of time (3 minutes): the slower the movement speed, the smaller the threshold value. The lower limit of the threshold value is not influenced by the moving speed, and no matter how the moving speed is, the moving distance is smaller than the lower limit of the threshold value, and safety early warning is sent out.
Setting the longitude and latitude coordinates of the site 1 as (Lat1, Lon1), the longitude and latitude coordinates of the positioning point 2 as (Lat2, Lon2), a as the latitude difference between two positioning points and b as the longitude difference between two positioning points, calculating the distance S between the two positioning points, and further calculating the average speed in a working time (3 minutes)
And if the moving distance of the field reconnaissance personnel is determined according to the two positioning points, if the moving distance is not within the moving distance threshold range, entering the step 3.2.1).
And 3.2.1), the Beidou monitoring terminal gives a safety early warning.
And 4), under the triggering of field reconnaissance personnel, the Beidou monitoring terminal sends alarm information to the monitoring server.
Big dipper monitor terminal sets up a key alarming function, and open-air reconnaissance personnel can send alarm information to monitoring server fast when taking place danger. The Beidou monitoring terminal automatically acquires relevant position and time information, and supports rapid input of detailed description information through an integrated voice recognition function. After receiving the alarm information, the monitoring server displays the position of the field reconnaissance personnel on a display end map of the monitoring server by adopting flashing alarm and sends out an alarm prompt tone.
The field reconnaissance personnel find that the monitoring terminal is in a dangerous state, click a one-key alarm button on the Beidou monitoring terminal, and the Beidou monitoring terminal automatically acquires information such as time, longitude and latitude, elevation and the like, sends the information to the monitoring server, and realizes quick alarm through the mode.
The Beidou monitoring terminal integrates a voice recognition function, supports field reconnaissance personnel to quickly input detailed description information such as surrounding environment, physical conditions, danger occurrence reasons and the like, and can provide enough time and condition preparation for quick rescue.
After the Beidou monitoring terminal sends alarm information to the monitoring server, the display end of the monitoring server enables the positioning mark of the field reconnaissance personnel on the map to be in a flashing alarm state, and sends out alarm sound to prompt the command center staff to immediately deploy rescue.
And 5), the monitoring server generates an activity track according to the received positioning information.
And (3) eliminating redundant points by using a Douglas-Pock algorithm aiming at the situation that a large number of repeated redundant points exist in a positioning information table of the monitoring server, and storing a new data set into a display data table. And according to the activity time of field reconnaissance personnel, issuing the trace map layer through GeoServer service.
The field reconnaissance personnel can execute a field reconnaissance task at a certain position for a long time, when the positioning information table records and forms a moving track, a large number of redundant points (such as repeated points and points on the same straight line) exist, the redundant points in the moving track are removed by using a Douglas-Pock algorithm, as shown in figure 8, the number of track points is reduced, the track shape is kept, and meanwhile, the complexity of drawing track graphs is reduced.
A display data table is established in a database of the monitoring server, the main fields and the main key settings of the display data table are the same as those of the positioning information table, and the compressed positioning data set is stored in the display data table, so that the generation, the display and the data retrieval of the track of the field reconnaissance personnel are facilitated, and the calculation of repeatedly eliminating redundant data is reduced.
And 6) checking the motion track of the field reconnaissance personnel through the Web end.
And a track playback function is set, the track data of the field surveyor is inquired and extracted according to conditions, and the motion tracks of the field surveyor in different time periods can be checked at a Web end.
And 6.1) extracting the activity track data from the monitoring server.
The query condition supports both time query and person query. And sending a request for inquiring the motion track data of the field reconnaissance personnel to a monitoring server at a Web end, extracting a data set of the field reconnaissance personnel in a corresponding time period from a display data table by the monitoring server according to the field reconnaissance task ID, the field reconnaissance personnel ID and the inquiring time range, and analyzing the data set into the motion track data according to the time sequence. And verifying the situation of the activity track data by comparing the time stamp attributes. Specifically, the time stamp is compared with a data table displayed by the Beidou monitoring terminal, if the activity track data is latest, the record is directly returned, and if the record is incomplete, a prompt of lacking data is given.
And 6.2) displaying the activity track in a thermodynamic diagram at the Web end.
Historical track data of field reconnaissance personnel is published as a map layer and is superposed on an image map or a line drawing map, and the historical track of the field reconnaissance personnel can be checked on a Web-end geographical base map. And the historical track data is published into a track layer through GeoSever service and is superposed and displayed on the geographical base map.
And (3) viewing the historical track of the field surveyor at the Web end, and supporting various track playing modes. The activity rules of the field prospecting personnel such as the activity range, the observation position, the observation duration and the like are visually presented by using a thermodynamic diagram mode, different transparencies are rendered and superposed by adopting a density function, and the thermodynamic diagram is adapted to various terminals by applying an anchor point technology. The playing mode can adopt the modes of normal multiple, multiple speed, forward playing, reverse playing and the like. When the historical track is checked, besides the basic positioning information, other more track information can be inquired in an all-around manner.
In the track playback process, basic information such as longitude and latitude, elevation and equipment electric quantity of field reconnaissance personnel can be displayed, the current safety state, the traveling speed, the residence time of the same place, the task completion condition and the like can be displayed, the working state of the field reconnaissance personnel can be restored in an all-round mode, and the emergency rescue guarantee for accidents is provided. The information display of the field reconnaissance personnel is shown in fig. 9, and in order to facilitate information viewing, the information display frame moves along with the positioning mark and supports sliding viewing of more information.
In the thermodynamic diagram display process, the positioning coordinate system of the field surveyor is a WGS-84 geographical coordinate system, the coordinate system displayed on the screen is a plane coordinate system, and in order to prevent errors in the conversion from graphic geodetic coordinates to screen coordinates, a map projection formula is adopted to complete the conversion of track coordinates between the two coordinate systems.
The height and width of the screen are screen height and screen width, respectively, and the range of the geographic coordinate region (maxLon, minLon, maxLat, minLat) is set, and in order to ensure the precision, the geographic coordinate is converted into second by degree, wherein T is 3600. The conversion formula is as follows:
when the track data of field reconnaissance personnel is checked through the Web end, due to the fact that screen resolutions of all display terminals are different, when thermodynamic diagrams are displayed, relative positions of all elements are represented through an anchor point technology, and the track data is adaptive to different screen resolutions of multiple terminals.
Assuming that the default screen height and width are OriginScreenWidth and OriginScreenHeight respectively, the height and width of the current screen are NowScreenWidth and NowScreenHeight, and the center position of the object a on the default screen is (originX, originY), then the center position (x, y) on the current screen is calculated as follows:
different transparencies are rendered and superposed by adopting a density function, and the activity rules of field reconnaissance personnel, such as the activity range, the observation position, the observation duration and the like, are visually presented in a thermal diagram mode. In order to visually present information such as the range of motion, the observation position, the observation duration and the like of field surveyors, a positioning information table of a task is read through condition query, different transparencies are rendered and superposed by adopting a density function according to the positioning data of the field surveyors, and a thermodynamic diagram effect is presented.
When the thermodynamic diagram is drawn, mapping each positioning data into a circle with gradually changed transparency from the center to the outside, and calculating a transparency value obtained by cross superposition of each pixel point data by using a transparency superposition principle, wherein the calculation formula is as follows:
wherein, Count is the weight of the data point, minCount and maxCount are the minimum and maximum values in the weight of the data point. Fig. 10 shows an enlarged trace as an example of the principle of transparency superimposition in generating a thermodynamic diagram.
And according to the transparency value calculated by each pixel, performing color mapping in the color band to obtain the RGB value corresponding to the pixel point. The image is finally colored and a color thermodynamic diagram is drawn, the darker the color indicating a higher density of statistical data and vice versa (as shown in fig. 11).
The invention also provides a Beidou-based field reconnaissance personnel safety monitoring system which comprises a monitoring server, a Beidou monitoring terminal and a Web end, wherein the Beidou monitoring terminal is carried by field reconnaissance personnel, the monitoring server is arranged in a command center provided with commanders, and the Web end is communicated with the monitoring server after logging in through terminal equipment.
The road survey field work environment is extremely hard, the work place is even far away from other countries, and in the Beidou-based safety monitoring system for the unexpected survey personnel, the Web end provides a function of adding the familiarity account number binding, and supports the family members of the field survey personnel to know the information such as the work position and the state of the relatives in time; extracting the track data of the field prospecting personnel bound with the familiarity number from the monitoring server according to the familiarity number ID and the query condition, and publishing the track data into a visual map layer; after family members of field reconnaissance personnel log in the familiarity account number through a Web end, the real-time position and the safety state of the field reconnaissance personnel can be checked, and the historical track of the field reconnaissance personnel can also be inquired. Therefore, good familiarity and working atmosphere are created for field collection workers. The familiarity account number has an independent password, can be changed autonomously, and also supports the modification of the bound account number, and field reconnaissance personnel can change the bound familiarity account number at a later stage. After family members of field investigators access the Web end to log in the familiarity numbers, the real-time positions and the safety states of the field investigators can be checked on the terminal equipment of the field investigators by setting inquiry conditions, and the historical tracks of the field investigators can also be inquired. As shown in fig. 12, the information display box displays the status information of the field surveyor according to a part of the time query history track.
Besides the Beidou positioning module, the Beidou monitoring terminal also provides a voice recognition module. Open-air reconnaissance personnel send alarm information to command center through big dipper monitor terminal when taking place danger fast, through integrated speech recognition module, support to input comparatively detailed description information fast to after command center accepted alarm information, will adopt the position that the flash was reported to the police and is shown open-air reconnaissance personnel on the map, and send out the warning prompt tone.
The invention discloses a Beidou-based field reconnaissance personnel safety monitoring method and system, which are based on a Beidou satellite navigation system, record the real-time positioning and equipment information of field reconnaissance personnel, and can effectively improve the adaptability and the timeliness of the field reconnaissance personnel safety monitoring method when the signals of a foreign satellite positioning navigation system are interrupted or interfered in engineering, particularly in a foreign engineering project, and the intellectualization and the timeliness of safety guarantee management based on a cloud end. Adopting a Douglas-Puck algorithm to eliminate redundant data in the positioning data, storing a newly generated data set into a display data table, and issuing the data set into a track layer which can be checked on a geographical base map through GeoServer; according to the field investigation task, presetting a safe region and a field investigation task, and according to the average moving distance of the investigation personnel, setting a safe alarm threshold value to provide timely safe early warning for the field investigation personnel: if the field reconnaissance personnel are in a dangerous state, the Beidou monitoring terminal sends out an automatic alarm, and the field reconnaissance personnel can also realize a quick alarm through a one-key alarm function; through the track playback function, the command center accurately positions the position and time of the field reconnaissance personnel in danger, information such as the range of motion, the observation position and the observation duration of the field reconnaissance personnel is visually presented by using a thermodynamic diagram mode, comprehensive safety suggestions are provided for field reconnaissance tasks, familiarity account numbers are set, and family members can check the state and the position of field workers and provide familiarity care for the field workers.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (18)
1. A Beidou-based field reconnaissance personnel safety monitoring method comprises the following steps:
step 1), issuing a field investigation task to a Beidou monitoring terminal through a monitoring server;
step 2), positioning field reconnaissance personnel carrying the Beidou monitoring terminal in real time through the Beidou monitoring terminal;
step 3), monitoring the state of the field reconnaissance personnel in real time when the field reconnaissance personnel execute the field reconnaissance task through the Beidou monitoring terminal;
step 4), under the trigger of field reconnaissance personnel, the Beidou monitoring terminal sends alarm information to a monitoring server;
step 5), the monitoring server generates an activity track according to the received positioning information;
and 6) checking the movement track graph of the field reconnaissance personnel through the Web end.
2. The Beidou based field reconnaissance personnel monitoring method of claim 1, wherein the step 1) further comprises the steps of:
step 1.1), the monitoring server generates a safe region range of the field investigation task according to the field investigation task, and marks different investigation places by using symbols.
Step 1.2), dividing the field investigation task by taking field investigation personnel as a unit, giving ID to the field investigation task, and assigning corresponding ID of the field investigation task, a corresponding investigation place and a corresponding safety region to each field investigation personnel;
step 1.3), according to the ID of the field investigation task, the monitoring server issues the field investigation task to the Beidou monitoring terminal;
and step 1.4), acquiring the distributed field investigation tasks by field reconnaissance personnel at the Beidou monitoring terminal.
3. The Beidou based field reconnaissance personnel monitoring method of claim 2, wherein the step 2) further comprises the step 2.1) of positioning field reconnaissance personnel in real time:
taking a high-resolution image map as a geographical base map, and downloading an off-line map, an image map and a task related information map layer on the Beidou monitoring terminal;
the Beidou monitoring terminal records the position of a field reconnaissance worker and related information of the Beidou monitoring terminal every other fixed time interval and stores the position and the related information into a local database positioning information table;
the record information comprises an ID of a field reconnaissance worker, an ID of a field reconnaissance task, longitude and latitude, elevation and electric quantity of a Beidou monitoring terminal, and the longitude and latitude and the elevation are obtained in the following modes: and searching Beidou satellite signals to determine the specific position of the satellite with strong signals and the distance between the satellite with strong signals and the Beidou monitoring terminal according to the strength of the signals, and calculating the longitude and latitude and elevation information of the Beidou monitoring terminal held by field reconnaissance personnel.
4. The Beidou-based field reconnaissance personnel monitoring method of claim 3, wherein in the step 2.1), the latitude, longitude and elevation of a Beidou monitoring terminal held by the field reconnaissance personnel are calculated as follows:
the geometric distance r from the Beidou monitoring terminal to the Beidou satellite is expressed as follows:
the three-dimensional coordinates of the Beidou monitoring terminal are (X, Y and Z), the three-dimensional coordinates of the Beidou satellite in the air are (Xs, Ys and Zs), c is the light speed, Vs is the satellite clock error, and V is the Beidou monitoring terminal clock error;
when there are four or more big dipper satellites, the following equations are used:
and solving the position coordinate and the clock difference of the Beidou monitoring terminal.
5. The Beidou based field reconnaissance personnel monitoring method of claim 3, wherein the step 2) further comprises the step 2.2) of uploading positioning data to a monitoring server:
after the positioning data stored in a local database positioning table of the Beidou monitoring terminal is converted into a JSON data format, synchronizing the positioning data with a database of a monitoring server end by comparing the attribute of the timestamp;
and (4) monitoring server data decoding, wherein the timestamp attribute is used for judging whether the positioning data is uploaded or not.
6. The Beidou based field reconnaissance personnel monitoring method of claim 2, wherein the step 3) further comprises a step 3.1), the Beidou monitoring terminal judges the position relation between the position of the field reconnaissance personnel and the position of the safety zone according to the positioning information to give a safety state prompt, and judges whether the field reconnaissance personnel leave the safety zone:
the Beidou monitoring terminal calculates the distance between the current position of the field reconnaissance personnel and each side of the safe area in real time, and gives corresponding prompts according to the minimum distance;
and if the position of the field reconnaissance personnel is judged not to be in the safe area according to the positioning information, the step 3.1.1) is carried out, and the Beidou monitoring terminal gives a prompt whether to give an alarm or not.
7. The Beidou based field reconnaissance personnel monitoring method of claim 6, wherein in the step 3.3.1), the Beidou monitoring terminal sends alarm information to the monitoring server through Beidou short messages after the alarm is confirmed.
8. The Beidou-based field reconnaissance personnel monitoring method of claim 6, wherein the step 3) further comprises a step 3.2) of setting a corresponding moving distance early warning threshold according to the average moving speed of the field reconnaissance personnel, and judging whether the moving distance of the field reconnaissance personnel is within the moving distance threshold range:
calculating the average moving speed according to the positioning information of the field reconnaissance personnel within a period of working time and setting a corresponding moving distance prompt threshold;
and if the moving distance of the field reconnaissance personnel is determined according to the two positioning points, if the moving distance is not within the moving distance threshold range, the step 3.2.1) is carried out, and the Beidou monitoring terminal gives a safety early warning.
9. The Beidou based field reconnaissance personnel monitoring method of claim 1, wherein in the step 4), the Beidou monitoring terminal automatically collects time, longitude and latitude and elevation information and sends the information to the monitoring server.
10. The Beidou based field reconnaissance personnel monitoring method of claim 1, wherein in the step 5), a large number of repeated redundant points exist in a positioning information table of a monitoring server, the redundant points are removed by adopting a Douglas-Pock algorithm, and a new data set is stored in a display data table; and according to the activity time of the field reconnaissance personnel, publishing the positioning information into a track map layer.
11. The Beidou based field reconnaissance personnel monitoring method of claim 1, wherein the step 6) further comprises:
step 6.1), extracting the activity track data from the monitoring server;
and 6.2) displaying the activity track in a thermodynamic diagram at the Web end.
12. The Beidou based field reconnaissance personnel monitoring method of claim 11, wherein in the step 6.1), the Web terminal sends a request for inquiring the activity track data of the field reconnaissance personnel to the monitoring server terminal; the monitoring server extracts a data set of the field prospecting personnel in a corresponding time period from the display data table according to the field prospecting task ID, the field prospecting personnel ID and the query time range, and analyzes the data set into motion track data according to the time sequence; the monitoring server verifies the situation of the activity track data by comparing the timestamp attribute with the Beidou monitoring terminal display data table.
13. The Beidou based field reconnaissance personnel monitoring method of claim 11, wherein in the step 6.2), historical track data of the field reconnaissance personnel is published and superposed on an image map or a line map as a layer to view the historical track of the field reconnaissance personnel on a Web-end geographical base map; presenting the range of motion, the observation position and the observation duration of field reconnaissance personnel in a thermodynamic diagram mode; the thermodynamic diagram adopts an anchor point technology to represent the relative position of each display point between screens with different resolutions; thermodynamic diagrams employ density functions to render and superimpose different transparencies.
14. The Beidou based field surveyor monitoring method according to claim 13, wherein in the step 6.2), in the process of thermodynamic diagram display, the transformation of the track coordinates between the positioning coordinates WGS-84 geographical coordinate system of the field surveyor and the plane coordinate system displayed on the screen is completed by adopting a map projection formula:
the height and width of the screen are respectively screen height and screen width, the range of the geographic coordinate region is (maxLon, minLon, maxLat, minLat), and T is 3600.
15. The Beidou based field reconnaissance personnel monitoring method of claim 13, wherein in the step 6.2), the calculation formula of the current screen center position (x, y) when displaying the thermodynamic diagram is as follows:
the default screen height and width are OriginScreenWidth and OriginScreenHeight respectively, the current screen height and width are NowScreenWidth and NowScreenHeight, and the center position of the object a on the default screen is (originX, originY).
16. The Beidou based field reconnaissance personnel monitoring method of claim 13, wherein in the step 6.2), when a thermodynamic diagram is drawn, each positioning data is mapped to a circle with gradually changed transparency from the center to the outside, and the transparency value obtained by cross-overlapping data of each pixel point is calculated according to the following formula by using the principle of transparency overlapping:
wherein, Count is the weight of the data point, minCount and maxCount are the minimum and maximum values in the weight of the data point.
17. A system adopting the beidou-based field reconnaissance personnel safety monitoring method of any one of claims 1 to 16, comprising a monitoring server, a beidou monitoring terminal and a Web terminal, wherein the beidou monitoring terminal is carried by a field reconnaissance personnel, the monitoring server is arranged in a command center provided with a commander, and the Web terminal is communicated with the monitoring server after logging in through a terminal device.
18. The Beidou based field reconnaissance personnel monitoring system of claim 17, wherein: the Beidou monitoring terminal is provided with a Beidou positioning module and a voice recognition module, and the voice recognition module recognizes the voice input of field reconnaissance personnel and converts the voice input into character information.
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