CN113376667A - Beidou monitoring terminal and monitoring method - Google Patents

Beidou monitoring terminal and monitoring method Download PDF

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Publication number
CN113376667A
CN113376667A CN202110623384.2A CN202110623384A CN113376667A CN 113376667 A CN113376667 A CN 113376667A CN 202110623384 A CN202110623384 A CN 202110623384A CN 113376667 A CN113376667 A CN 113376667A
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module
terminal
rtcm
lora
gnss
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CN113376667B (en
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汪兵
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Beijing Tianhaida Technology Co ltd
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Beijing Tianhaida Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a Beidou monitoring terminal and a monitoring method, wherein the terminal comprises the following components: the system comprises an integrated antenna, an LORA external antenna, a 4G network module, a WIFI module, an LORA module, a GNSS module, an MEMS sensor and a processor. According to the invention, by selecting the low-power consumption single chip microcomputer, and integrating the GNSS, WIFI and 4G integrated antenna, the LORA external antenna, the GNSS positioning module, the 4G network module, the WIFI module, the LORA module, the MEMS sensor, the temperature sensor, the storage, the indicator lamp, the internal battery and the power circuit, an integrated machine compact design mode is adopted, and the integrated circuit has the characteristics of high integration, low cost, low power consumption, convenience in installation, stability and reliability of equipment and the like, greatly promotes the large-scale application of the industrial high-precision monitoring market, and has typical demonstration effect and great economic benefit. The invention is based on multi-system, multi-frequency point and difference post-processing technology, and the terminal equipment can provide millimeter-level positioning precision.

Description

Beidou monitoring terminal and monitoring method
Technical Field
The invention relates to the technical field of Beidou terminals, in particular to a Beidou monitoring terminal and a monitoring method.
Background
In 2009, the country began the construction work of the third beidou system, which is a third beidou global satellite navigation system, and consists of 30 satellites including 24 medium-circle earth orbit satellites, 3 geostationary orbit satellites and 3 oblique geosynchronous orbit satellites. Since 7 months in 2020, the Beidou No. three global satellite navigation system is formally opened, which marks that the Beidou cause enters a new global service era. And after the system is opened, the system runs stably, high-quality service is continuously provided for global users, and a new global and industrialized journey is started.
The Global Navigation Satellite System (GNSS) currently includes four major systems, the BeiDou satellite navigation system (BDS) in china, the Global Positioning System (GPS) in the united states, the Galileo satellite navigation system (Galileo) in the european union, and the GLONASS satellite navigation system (GLONASS) in russia. The BDS, the GPS and the GLONASS serve the whole world, and the system runs stably.
Based on multisystem, multifrequency point and difference post-processing technology, terminal equipment provides millimeter-level positioning accuracy. The traditional equipment for high-precision monitoring by utilizing GNSS is mostly split type equipment, namely, the antenna is separated from the host, so that the equipment has the characteristics of high power consumption, high cost, inconvenience in installation, high maintenance cost and the like. And the adaptability of the equipment is poor, and the auxiliary module is often added according to the field environment.
Disclosure of Invention
The invention provides a Beidou monitoring terminal and a monitoring method aiming at solving the problems in the prior art, and aims to provide an implementation method of the Beidou monitoring terminal.
In order to achieve the above object, the present invention provides a Beidou monitoring terminal, including: the system comprises an integrated antenna, an LORA external antenna, a 4G network module, a WIFI module, an LORA module, a GNSS module, an MEMS sensor and a processor;
the integrated antenna integrates a GNSS antenna, a WIFI antenna and a 4G antenna;
the 4G network module receives and transmits signals through the integrated antenna and communicates with a monitoring communication center in a long distance;
the WIFI module receives and sends signals through the integrated antenna to realize near field communication;
the LORA module receives and transmits signals through the LORA external antenna, realizes near-middle distance communication, receives RTCM observation data and transmits the RTCM observation data to the GNSS module;
the GNSS module receives satellite signals through the integrated antenna; receiving RTCM observation data to perform RTK resolving positioning;
the MEMS sensor is used for detecting the position of the terminal;
the processor receives the configuration information of the remote communication of the monitoring communication center through the 4G network module, and configures the adoption frequency and the uploading frequency of the terminal; detecting working condition information, and uploading the working condition information to the monitoring communication center through the 4G network module; and receiving the position of the MEMS sensor detection terminal, starting the LORA module to receive RTCM observation data when the position of the terminal changes, starting RTK differential positioning, and sending a positioning result to a monitoring communication center through the 4G network module.
Further, the intelligent temperature control system also comprises a temperature sensor module, a storage module and a status indicator lamp module;
the temperature sensor module is used for detecting temperature data;
the storage module is used for storing terminal data and configuration information;
the state indicator lamp module comprises a plurality of indicator lamps and indicates the working state of a power supply, the working state of communication of the 4G network module, the working state of the storage module and the positioning working state of the GNSS module;
the processor passes through I2The C interface is connected and communicated with the MEMS sensor and the temperature sensor module; the SDIO interface is connected with a storage module to store and export data; and the GPIO interface is connected with the state indicating lamp to display the working state of the terminal.
Further, the processor detects the condition information including: the power supply voltage value, the working temperature, the occupied space of the storage module and the strength value of the 4G network signal. Further, the LORA module is configured to send a corresponding alarm signal to the monitoring communication center when the temperature exceeds a threshold, the supply voltage is lower than a voltage threshold, the occupied space of the storage module exceeds a remaining space threshold, and the strength value of the 4G network signal is lower than a strength threshold.
Further, the initialization of the processor comprises:
after the terminal is powered on and started, the GNSS module receives satellite signals of the Beidou, the GPS and the GLONASS;
after the satellite signals are locked and stabilized, ephemeris at each frequency point is received, and original RTCM observation data and ephemeris data are obtained; the processor is provided with a storage module for reading configuration parameters to carry out terminal configuration; and if receiving the configuration parameters sent by the monitoring communication center, updating the terminal configuration.
Further, the configuration parameters include: the RTCM observation data sampling frequency, the RTCM observation data uploading frequency and the ephemeris parameter uploading frequency; and reading the RTCM observation data sampling frequency to configure the sampling frequency of the controller, and reading the RTCM observation data uploading frequency and the ephemeris parameter uploading frequency to configure the working condition information and the ephemeris parameter uploading frequency of the 4G network module.
Further, the processor presses the received RTCM observation data into a GNSS RTCM data queue, and uploads the RTCM observation data to the monitoring communication center by the 4G network module according to the configured RTCM observation data uploading frequency; and pressing the received ephemeris data into an ephemeris data queue, and uploading the ephemeris data to the monitoring communication center by the 4G network module according to the configured ephemeris parameter uploading frequency. Further, the upload protocol includes TCP, UDP, NTRIP, and/or MQTT protocols.
Furthermore, one terminal is used as a reference terminal and is fixed in position; the reference terminal broadcasts RTCM observation data through an LORA module of the reference terminal, the RTCM observation data are forwarded to the terminal to be positioned through a satellite, the terminal to be positioned receives the RTCM observation data through the LORA module of the terminal to be positioned, and the GNSS module carries out RTK resolving positioning to obtain a positioning result.
Furthermore, the integrated antenna integrates a GNSS antenna, a WIFI antenna and a 4G antenna, and is respectively connected with the GNSS module, the WIFI module and the 4G network module through three radio frequency cables; further, the housing of the terminal is provided with a LORA external antenna interface for installing the LORA external antenna.
Further, the power supply circuit comprises an external power supply circuit and a battery; and when the power supply circuit of the external power supply is disconnected, the power supply circuit is switched to supply power to the battery, and the power is reported to the monitoring communication center through the 4G network module.
Further, the processor is connected with the 4G network module, the WIFI module, the LORA module and the GNSS module through GPIO interfaces respectively; and controlling the 4G network module, the WIFI module, the LORA module and the GNSS module to be closed or opened through high and low levels according to the working state and the frequency of the uploaded data. Further, the WIFI module is configured to receive query information or configuration information sent by the mobile phone APP, and feed back a query result corresponding to the query information or a configuration result corresponding to the configuration information to the mobile phone APP.
On the other hand, the method for monitoring by adopting the Beidou monitoring terminal comprises the following steps:
after the terminal is powered on and started, the GNSS module receives satellite signals of the Beidou, the GPS and the GLONASS;
initializing a GNSS module, and acquiring original RTCM observation data and ephemeris data after satellite signals are locked and stabilized and ephemeris of each frequency point is received; the processor is provided with a storage module for reading configuration parameters to carry out terminal configuration; if receiving the configuration parameters sent by the monitoring communication center, updating the terminal configuration;
the processor presses the received RTCM observation data into a GNSS RTCM data queue, and uploads the RTCM observation data to the monitoring communication center by the 4G network module according to the configured RTCM observation data uploading frequency; the received ephemeris data are pressed into an ephemeris data queue, and are uploaded to the monitoring communication center by the 4G network module according to the configured ephemeris parameter uploading frequency;
the processor transmits the detected working condition information to the monitoring communication center through the 4G network module;
the processor receives the position of the MEMS sensor detection terminal, starts the LORA module to start RTK differential positioning when the position of the terminal changes, and sends a positioning result to the monitoring communication center through the 4G network module.
The technical scheme of the invention has the following beneficial technical effects:
(1) the traditional equipment for high-precision monitoring by utilizing GNSS is mostly split type equipment, namely, the antenna is separated from the host, so that the equipment has the characteristics of high power consumption, high cost, inconvenient installation, high maintenance cost and the like. According to the invention, by selecting the low-power consumption single chip microcomputer, and integrating the GNSS, the WIFI and the 4G integrated antenna, the LORA external antenna, the GNSS positioning module, the 4G network module, the WIFI module, the LORA module, the MEMS sensor, the temperature sensor, the storage, the indicator lamp, the built-in battery and the power circuit, a compact design mode of the all-in-one machine is adopted, and the integrated low-power consumption single chip microcomputer has the characteristics of high integration, low cost, low power consumption, convenience in installation, stability and reliability of equipment and the like.
(2) The invention adopts an all-in-one machine design mode, has the characteristic of low power consumption, greatly reduces the manufacturing cost of equipment, and is more convenient and faster to install and implement in the field; due to the characteristics of low power consumption, integration, low cost and the like, the large-scale application of the industrial high-precision monitoring market is greatly promoted, and the method has a typical demonstration effect and great economic benefits.
(3) According to the invention, four types of signals are received through the GNSS, WIFI and 4G integrated antenna and the LORA external antenna, so that the product universality is good.
(4) The invention is based on multi-system, multi-frequency point and difference post-processing technology, and the terminal equipment can provide millimeter-level positioning precision.
Drawings
Fig. 1 is a schematic structural view of a terminal;
FIG. 2 is a diagram of a network protocol topology supported by a terminal;
FIG. 3 is a flowchart of a terminal RTK mode of operation;
FIG. 4 is a flow chart of uploading terminal operating condition status
FIG. 5 is a schematic diagram of terminal power management;
fig. 6 is a flowchart of the operation of the terminal.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The invention provides a Beidou monitoring terminal, which comprises: integration antenna, LORA external antenna, 4G network module, WIFI module, LORA module, GNSS module, MEMS sensor, temperature sensor module, storage module, status indicator lamp module, power supply circuit and treater.
The integrated antenna integrates a GNSS antenna, a WIFI antenna and a 4G antenna. The integrated antenna is a key component of the terminal, integrates functions of GNSS, 4G and WIFI, is connected with the GNSS module, the WIFI module and the 4G module through three radio frequency cables respectively, and provides radio signals for the three modules.
The LORA external antenna adopts external design, and the LORA antenna radio frequency interface is reserved to the casing at terminal, and it can to twist the LORA antenna interface at terminal with external LORA external antenna during the use. The LORA antenna is designed by adopting an external interface, and the important consideration is that the LORA can support longer communication distance.
And the 4G network module receives and transmits signals through the integrated antenna and communicates with a monitoring communication center in a long distance. The GNSS RTCM device is used for transmitting the GNSS RTCM original data and the state data collected by the terminal to the monitoring communication center. The 4G network module is connected with the processor through a serial port.
The WIFI module receives and transmits signals through the integrated antenna to realize near field communication. The WIFI module is connected with the processor through a serial port and provides a near field communication function and is used for being connected with a mobile phone APP to realize configuration and maintenance operation of the terminal equipment. After the WIFI module receives query information sent by the mobile phone APP, the corresponding data is queried by the storage module and fed back to the mobile phone APP; and receiving the configuration information sent by the APP, working according to the configuration parameters, updating the configuration information in the storage module, and reconfiguring the terminal after restarting. And after the configuration information in the storage module is updated, the configuration is fed back to the mobile phone APP to be completed.
The LORA module receives and transmits signals through the LORA external antenna, near-middle distance communication is achieved, RTCM observation data are received, RTK (Real-Time Kinematic) resolving and positioning are carried out through the GNSS module, and at the moment, the communication frequency of the LORA module is once per second. The LORA module is connected with the low-power-consumption single chip microcomputer through a serial port and is used for realizing medium-distance (typical 5KM) communication, realizing the self-networking function, supporting realization of an RTK positioning function based on LORA communication, and realizing other functions such as alarming through connection of the LORA module and other nearby alarming peripherals. For example triggering an audible and visual alarm.
The GNSS module receives satellite signals through the integrated antenna and outputs RTCM observation data, positioning data and the like through a serial port. The GNSS module is a main part of the terminal equipment, and a low-power-consumption dual-frequency RTK module is adopted to support a Beidou B1/B2 frequency point, a GPS L1/L2 frequency point and GLONASS G1 and G2 frequency points. And the serial port is connected with the low-power consumption singlechip. In the RTK positioning process: the reference terminal transmits the RTCM reference information of the reference station to the GNSS module receiving module through the LORA module, and the receiving module carries out RTK resolving after passing through the received RTCM differential data, so that an RTK positioning result is output.
The MEMS sensor is used for detecting the position of the terminal.
Further, the MEMS sensor adopts a gyroscope and passes through I2The C bus is connected with the processor. The gyroscope adopts a default built-in 3-axis accelerometer and a 3-axis gyroscope and is used for acquiring the sudden position change state of the terminal equipment, such as sudden violent shaking of the equipment, sudden ground collapse and the like. The gyroscope state acquisition has the characteristic of rapidness, the reaction time can reach millisecond level, the single chip microcomputer detects the sudden position change information of the equipment at the moment, the real-time positioning function of the terminal equipment can be triggered and started, and the state information at the moment is uploaded to the monitoring communication center in time.
The temperature sensor module, by2The C bus is connected with the processor. Wherein the temperature sensor monitors the internal working temperature of the equipment in real timeThe working temperature is transmitted to a monitoring communication center as one of the equipment state parameters, and is used for historical data storage and over-temperature alarm control.
The storage module is used for storing GNSS original RTCM observation data and related state data of the terminal equipment, the equipment supports default 64GB storage, and the original data of 2 years can be stored typically. The storage design adopts a TF card mode, and is connected with the low-power-consumption singlechip through an SDIO interface. The original data of the TF card can be transmitted to external equipment through a 4G mode, a WIFI mode and the like.
The status indicator light module supports 5 indicator lights, which are respectively a power supply working status, a communication working status, a storage working status, a positioning working status and a reserved indicator light. The on-site maintenance personnel can conveniently know the typical working state of the equipment in time, and convenience is provided for maintenance and repair. The indicator light is connected with the processor through the GPIO interface.
The power supply circuit comprises an external power supply circuit and a battery, when the external power supply circuit is disconnected, the external power supply circuit is switched to supply power to the battery and is reported to the monitoring communication center through the 4G network module, and a worker arranges power supply inspection and maintenance according to specific conditions. The device is provided with a built-in 16.8V and 2500mAH rechargeable lithium battery by default, the typical power consumption of the whole machine is about 1W, and the built-in battery can work for more than 4 hours. The built-in lithium battery can prevent the terminal equipment from being unstable and being powered off in short time when the terminal equipment works outdoors, thereby ensuring the working stability of the terminal equipment. The design of the power supply circuit provides a reliable power supply design for each module in the terminal, and simultaneously supports power supply management, turn-off and turn-on of each module, thereby ensuring the aim of energy conservation.
The processor receives the configuration information of the remote communication of the monitoring communication center through the 4G network module, and configures the adoption frequency and the uploading frequency of the terminal; detecting working condition information, and uploading the working condition information to the monitoring communication center through the 4G network module; and receiving the position of the MEMS sensor detection terminal, starting the LORA module when the position of the terminal changes, starting RTK differential positioning, and sending a positioning result to a monitoring communication center through the 4G network module.
Furthermore, the processor adopts a low-power-consumption singlechip, is a core component of the terminal, and is respectively connected and communicated with each module through a serial port.
Further, the processor passes through I2The C interface is connected and communicated with the MEMS module and the temperature sensor module.
Further, the processor is connected with the TF card storage module through the SDIO interface, and long-term storage and export of equipment data of the terminal equipment are achieved.
Furthermore, the state indicating lamp is connected through the GPIO interface and comprises a power supply working state, a communication working state, a storage working state, a positioning working state and a reserved indicating lamp. And displaying the real-time working state condition of the terminal.
Further, as shown in fig. 2, the terminal device supports, according to the requirements of the state commission, the management departments of various provinces, and the user, the upload communication protocol, in addition to TCP, also supports UDP, NTRIP, and MQTT protocols.
Furthermore, TCP, UDP, NTRIP and MQTT protocols can simultaneously support 4 paths of simultaneous uploading in design.
Further, the terminal supports a real-time RTK working mode, and the real-time RTK working mode needs to be started when the MEMS triggers sudden position change or other working scenes. As shown in fig. 3, a typical RTK workflow is as follows, in which a terminal 1 is designed as a reference station and broadcasts RTCM differential observation data through a LORA network, a terminal 2 is designed as a monitoring station and receives RTCM differential observation data through the LORA, the terminal 2 performs RTK real-time solution to obtain centimeter-level positioning results, and further, the real-time positioning results of the terminal 2 are uploaded to a monitoring communication center through a 4G mobile network. The processor receives the position of the MEMS sensor detection terminal, and starts the LORA module to start RTK differential positioning when the position of the terminal changes. The reference terminal broadcasts RTCM observation data through an LORA module of the reference terminal, the RTCM observation data are forwarded to the terminal to be positioned through a satellite, the terminal to be positioned receives the RTCM observation data through the LORA module of the terminal to be positioned, and the GNSS module carries out RTK resolving positioning to obtain a positioning result.
Further, as shown in fig. 4, the terminal may also upload the typical condition information of the device to the monitoring communication center through the 4G network at a fixed time (default 1 hour).
Further, the singlechip passes through I2The C bus reads the equipment working temperature information of the temperature sensor, reads an external power supply voltage value through the AD circuit, reads the service condition of the storage space in the TF, reads the signal intensity value of the 4G network through the serial port, packs the working condition information, and uploads the working condition information to the monitoring communication center through the 4G network.
Further, as shown in fig. 5, the terminal device supports a low power consumption design, and controls the operating states of the GNSS module, the 4G module, the LORA module, and the WIFI module through the 4 GPIO interfaces of the processor and the high and low levels, and whether to turn off or on.
Furthermore, according to the working state and the uploading time frequency, the GNSS module, the 4G module, the LORA module and the WIFI module can be opened and closed by the GPIO interface, so that the purpose of saving power consumption to the maximum extent is achieved.
On the other hand, a method for monitoring by using the Beidou monitoring terminal is provided, as shown in fig. 6, a typical working flow of the terminal is as follows:
(1) after the equipment is powered on and started, the GNSS module receives satellite signals of the Beidou, the GPS and the GLONASS.
(2) GNSS satellite signals are initialized, 120-second time is estimated in typical time, at the moment, signals of a Beidou frequency point B1 and a Beidou frequency point B2, a GPS frequency point L1 and a GPS frequency point L2, and a GLONASS frequency point G1 and a GPS frequency point G2 are locked stably, and meanwhile, after ephemeris of each frequency point of the satellite is received, stable real-time positioning can be achieved, and original RTCM observation data and ephemeris data are provided.
(3) And the processor reads default configuration parameters from the terminal storage module, wherein the default configuration parameters comprise the sampling frequency of the RTCM original observation data, the uploading frequency of the RTCM original observation data and the uploading frequency of the ephemeris parameters. The sampling frequency of typical RTCM original observation data is set to be 5 seconds once by default, the uploading frequency of the RTCM original observation data through a 4G network is set to be 5 seconds once, and the uploading frequency of ephemeris parameter data through the 4G network is set to be 30 seconds once.
Furthermore, the system samples and uploads the frequency parameters, the frequency parameters can be configured according to actual working requirements through the monitoring communication center, the terminal works according to the parameters, the configuration parameters can be stored, and after the system is electrified again, the terminal still works according to the latest working parameters.
Further, the configuration parameters transmitted through the mobile phone APP can be received through the WIFI module, the terminal can work according to the received configuration parameters, the configuration parameters can be stored, and the result of configuration completion is fed back. After the power is re-powered on, the power supply still works according to the latest and configured parameters.
(4) And the processor pushes the received RTCM original observation data into a GNSS RTCM data queue and pushes the received ephemeris data into an ephemeris data queue.
(5) And the processor transmits the data of the GNSS RTCM data queue and the data of the ephemeris data queue to a communication server of the monitoring communication center through a 4G network according to the current uploading frequency and by default adopting a TCP protocol.
In summary, the present invention relates to a Beidou monitoring terminal and a monitoring method, wherein the terminal includes: the system comprises an integrated antenna, an LORA external antenna, a 4G network module, a WIFI module, an LORA module, a GNSS module, an MEMS sensor and a processor. According to the invention, by selecting the low-power consumption single chip microcomputer, and integrating the GNSS, WIFI and 4G integrated antenna, the LORA external antenna, the GNSS positioning module, the 4G network module, the WIFI module, the LORA module, the MEMS sensor, the temperature sensor, the storage, the indicator lamp, the internal battery and the power circuit, an integrated machine compact design mode is adopted, and the integrated circuit has the characteristics of high integration, low cost, low power consumption, convenience in installation, stability and reliability of equipment and the like, greatly promotes the large-scale application of the industrial high-precision monitoring market, and has typical demonstration effect and great economic benefit. The invention is based on multi-system, multi-frequency point and difference post-processing technology, and the terminal equipment can provide millimeter-level positioning precision.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (10)

1. The utility model provides a big dipper monitor terminal which characterized in that includes: the system comprises an integrated antenna, an LORA external antenna, a 4G network module, a WIFI module, an LORA module, a GNSS module, an MEMS sensor and a processor;
the integrated antenna integrates a GNSS antenna, a WIFI antenna and a 4G antenna;
the 4G network module receives and transmits signals through the integrated antenna and communicates with a monitoring communication center in a long distance;
the WIFI module receives and sends signals through the integrated antenna to realize near field communication;
the LORA module receives and transmits signals through the LORA external antenna, realizes near-middle distance communication, receives RTCM observation data and transmits the RTCM observation data to the GNSS module;
the GNSS module receives satellite signals through the integrated antenna; receiving RTCM observation data to perform RTK resolving positioning;
the MEMS sensor is used for detecting the position of the terminal;
the processor receives the configuration information of the remote communication of the monitoring communication center through the 4G network module, and configures the adoption frequency and the uploading frequency of the terminal; detecting working condition information, and uploading the working condition information to the monitoring communication center through the 4G network module; and receiving the position of the MEMS sensor detection terminal, starting the LORA module to receive RTCM observation data when the position of the terminal changes, starting RTK differential positioning, and sending a positioning result to a monitoring communication center through the 4G network module.
2. The Beidou monitoring terminal according to claim 1, further comprising a temperature sensor module, a storage module and a status indicator light module;
the temperature sensor module is used for detecting temperature data;
the storage module is used for storing terminal data and configuration information;
the state indicator lamp module comprises a plurality of indicator lamps and indicates the working state of a power supply, the working state of communication of the 4G network module, the working state of the storage module and the positioning working state of the GNSS module;
the processor passes through I2The C interface is connected and communicated with the MEMS sensor and the temperature sensor module; the SDIO interface is connected with a storage module to store and export data; and the GPIO interface is connected with the state indicating lamp to display the working state of the terminal.
3. The Beidou monitoring terminal according to claim 2, wherein the condition information detected by the processor comprises: the power supply voltage value, the working temperature, the occupied space of the storage module and the strength value of the 4G network signal. Further, the LORA module is configured to send a corresponding alarm signal to the monitoring communication center when the temperature exceeds a threshold, the supply voltage is lower than a voltage threshold, the occupied space of the storage module exceeds a remaining space threshold, and the strength value of the 4G network signal is lower than a strength threshold.
4. The Beidou monitoring terminal according to claim 1 or 2, wherein the initialization of the processor comprises:
after the terminal is powered on and started, the GNSS module receives satellite signals of the Beidou, the GPS and the GLONASS;
after the satellite signals are locked and stabilized, ephemeris at each frequency point is received, and original RTCM observation data and ephemeris data are obtained; the processor is provided with a storage module for reading configuration parameters to carry out terminal configuration; and if receiving the configuration parameters sent by the monitoring communication center, updating the terminal configuration.
5. The Beidou monitoring terminal of claim 4, wherein the configuration parameters include: the RTCM observation data sampling frequency, the RTCM observation data uploading frequency and the ephemeris parameter uploading frequency; and reading the RTCM observation data sampling frequency to configure the sampling frequency of the controller, and reading the RTCM observation data uploading frequency and the ephemeris parameter uploading frequency to configure the working condition information and the ephemeris parameter uploading frequency of the 4G network module.
Further, the processor presses the received RTCM observation data into a GNSS RTCM data queue, and uploads the RTCM observation data to the monitoring communication center by the 4G network module according to the configured RTCM observation data uploading frequency; and pressing the received ephemeris data into an ephemeris data queue, and uploading the ephemeris data to the monitoring communication center by the 4G network module according to the configured ephemeris parameter uploading frequency. Further, the upload protocol includes TCP, UDP, NTRIP, and/or MQTT protocols.
6. The Beidou monitoring terminal according to claim 5, characterized in that one terminal is used as a reference terminal and is fixed in position; the reference terminal broadcasts RTCM observation data through an LORA module of the reference terminal, the RTCM observation data are forwarded to the terminal to be positioned through a satellite, the terminal to be positioned receives the RTCM observation data through the LORA module of the terminal to be positioned, and the GNSS module carries out RTK resolving positioning to obtain a positioning result.
7. The Beidou monitoring terminal according to claim 1 or 2, wherein the integrated antenna integrates a GNSS antenna, a WIFI antenna and a 4G antenna, and is respectively connected with a GNSS module, a WIFI module and a 4G network module through three radio frequency cables; further, the housing of the terminal is provided with a LORA external antenna interface for installing the LORA external antenna.
8. The Beidou monitoring terminal according to claim 1 or 2, further comprising a power circuit comprising an external power supply circuit and a battery; and when the power supply circuit of the external power supply is disconnected, the power supply circuit is switched to supply power to the battery, and the power is reported to the monitoring communication center through the 4G network module.
9. The Beidou monitoring terminal according to claim 1 or 2, wherein the processor is connected with the 4G network module, the WIFI module, the LORA module and the GNSS module through GPIO interfaces respectively; and controlling the 4G network module, the WIFI module, the LORA module and the GNSS module to be closed or opened through high and low levels according to the working state and the frequency of the uploaded data. Further, the WIFI module is configured to receive query information or configuration information sent by the mobile phone APP, and feed back a query result corresponding to the query information or a configuration result corresponding to the configuration information to the mobile phone APP.
10. A method for monitoring by using the beidou monitoring terminal as claimed in any one of claims 1 to 9, comprising:
after the terminal is powered on and started, the GNSS module receives satellite signals of the Beidou, the GPS and the GLONASS;
initializing a GNSS module, and acquiring original RTCM observation data and ephemeris data after satellite signals are locked and stabilized and ephemeris of each frequency point is received; the processor is provided with a storage module for reading configuration parameters to carry out terminal configuration; if receiving the configuration parameters sent by the monitoring communication center, updating the terminal configuration;
the processor presses the received RTCM observation data into a GNSS RTCM data queue, and uploads the RTCM observation data to the monitoring communication center by the 4G network module according to the configured RTCM observation data uploading frequency; the received ephemeris data are pressed into an ephemeris data queue, and are uploaded to the monitoring communication center by the 4G network module according to the configured ephemeris parameter uploading frequency;
the processor transmits the detected working condition information to the monitoring communication center through the 4G network module;
the processor receives the position of the MEMS sensor detection terminal, starts the LORA module to start RTK differential positioning when the position of the terminal changes, and sends a positioning result to the monitoring communication center through the 4G network module.
CN202110623384.2A 2021-06-04 2021-06-04 Beidou monitoring terminal and monitoring method Active CN113376667B (en)

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