CN115931044A - Agricultural condition comprehensive monitoring system and device based on GNSS and multi-sensor fusion - Google Patents
Agricultural condition comprehensive monitoring system and device based on GNSS and multi-sensor fusion Download PDFInfo
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Abstract
The invention provides an agricultural condition comprehensive monitoring system based on GNSS and multi-sensor fusion, which comprises a soil moisture content monitoring module, a soil fertility monitoring module and a soil quality monitoring module, wherein the soil moisture content monitoring module is used for monitoring fertility parameters of conveyed soil; the atmospheric environment parameter monitoring module is used for monitoring the parameter condition in the conveying atmosphere; the storage module is used for recording and storing data of each sensor and is used for sending or post-processing the data at regular time through the communication module; the communication module is used for transmitting the multi-source sensor data of the monitoring station to the server and receiving a service system control instruction; the positioning module comprises a GNSS antenna and a GNSS receiver and is used for transmitting data information required in the GNSS; the agricultural condition comprehensive processing module receives the parameter information transmitted by other modules, obtains the required agricultural condition information after processing, and the agricultural condition comprehensive monitoring device based on the fusion of the GNSS and the multi-sensor is used for acquiring and processing the field information of the farmland and the calendar year information in the GNSS, comparing the historical data of crops in a certain area and predicting the climate conditions.
Description
Technical Field
The invention mainly relates to the technical field of agricultural condition monitoring, in particular to an agricultural condition comprehensive monitoring system and device based on GNSS and multi-sensor fusion.
Background
Agricultural problems are a fundamental problem of global sustainable development and also a fundamental industry in one country. In the present day of the rapid development of the intellectualization, the intellectualization of the agriculture becomes a new trend of the agriculture development in the new century, and the intellectualization of the agriculture also becomes a very important subject at present. The real-time collection of farmland information is the basic requirement of fine agriculture, a complete set of complete comprehensive agricultural condition monitoring system is provided, and the key for timely, accurately and efficiently acquiring various index information in the agricultural production process and improving the agricultural production management and decision making is realized.
The method has the advantages that ground high-precision position information and land coverage types are obtained by using sensors such as Beidou satellite navigation and satellite remote sensing means, extraction and monitoring of agricultural rural key elements can be realized through a certain intelligent processing technology, agricultural development is guided, and digital rural construction is promoted. With the construction and application of the Beidou No. three global satellite navigation system and the technical breakthrough of the chips made in China, the Beidou high-precision positioning technology is utilized to promote the development of precision agriculture, so that the application prospect is wide. A foundation enhancement system (CORS system) is a high-precision Beidou positioning premise, and currently, a Beidou foundation service system with national-grade and provincial CORS as the main part and commercial CORS such as a location finding system, a China mobile system and the like as the auxiliary part is established in China. Based on the high-precision correction information provided by the CORS system, the high-precision position information from decimeter level to centimeter level can be acquired. Based on a handheld GIS data acquisition software and hardware terminal, the functions of data acquisition, data management and query of element information such as agricultural plots can be realized.
In addition, with the development of low-cost and miniaturized unmanned aerial vehicle technology, the unmanned aerial vehicle carrying the high-precision positioning and attitude-fixing module can realize phase-control-free three-dimensional oblique photogrammetry and construct an agricultural rural three-dimensional model; the farmland boundary is determined based on the high-precision plot information, and operations such as automatic route planning, full-automatic pesticide and chemical fertilizer can be realized by using the plant protection unmanned aerial vehicle. In addition, utilize the autopilot agricultural machinery of collocation RTK technique, can realize accurate seeding and reaping, improve agricultural degree of automation. The growth of crops is one of the most important agricultural condition factors for guiding agricultural production management and evaluating yield.
During the operation of the specific embodiment, the inventor finds the following defects:
the crop growth is one of the most important agricultural condition elements for guiding agricultural production management and evaluating yield, various current technologies are developed respectively, various information elements cannot be combined together, important crop information is extracted for early diagnosis, historical data comparison and climate condition prediction cannot be performed on crops in a certain area, remote sensing data in the area can not be analyzed to obtain long-term development of growers, and long-term monitoring management and prediction early warning operation on the crop growth in a specified area are difficult to complete.
Disclosure of Invention
Technical problems to be solved by the invention
The invention provides an agricultural condition comprehensive monitoring system and device based on GNSS and multi-sensor fusion, which are used for solving the technical problems in the background technology.
Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows: an agricultural condition comprehensive monitoring system based on GNSS and multisensor fusion comprises
The soil moisture content monitoring module is used for monitoring fertility parameters of the conveyed soil;
the atmospheric environment parameter monitoring module is used for monitoring the parameter condition in the conveying atmosphere;
the storage module is used for recording and storing data of each sensor and is used for sending or post-processing the data at regular time through the communication module;
the communication module is used for transmitting the multi-source sensor data of the monitoring station to the server and receiving a service system control instruction;
the positioning module comprises a GNSS antenna and a GNSS receiver and is used for transmitting data information required in the GNSS;
and the agricultural condition comprehensive processing module receives the parameter information conveyed by other modules and obtains the required agricultural condition information after processing.
Further, the agricultural condition comprehensive processing module comprises
The rainfall amount forecasting module is used for obtaining the original observation value data of the positioning module, performing data processing by using a precision single-point positioning technology, namely a PPP technology, obtaining atmospheric water vapor information in a preset area within preset time, performing self-adaptive deep learning on the atmospheric water vapor information, establishing a regional farmland meteorological model, and performing small-scale agricultural meteorological forecasting and early warning;
the precise position service module receives the request of the terminal of each positioning module, issues precise correction information and realizes precise position service;
the soil state monitoring module is used for performing freeze thawing monitoring on soil according to carrier-to-noise ratio information of the GNSS original observation value, and performing self-correction by combining actually measured soil moisture content data to realize large-range soil state monitoring;
and the soil humidity analog value calculating module is used for extracting the multipath reflection component by utilizing the SNR observed value of the carrier-to-noise ratio of the positioning module and calculating the soil humidity analog value.
Further, the precipitation amount forecasting module comprises
The parameter file reading module reads the original observation value data of the positioning module;
a zenith troposphere total delay ZTD calculation module which substitutes the original observation value data of the positioning module into a preset algorithm to calculate the zenith troposphere total delay ZTD value,
The zenith wet delay ZWD calculation module receives actually measured meteorological data, calculates out the dry delay of the ZHD zenith troposphere according to 90% of the total delay of the troposphere, and calculates the zenith wet delay ZWD in an input preset algorithm
Atmosphere precipitation calculation module
In the formula, TT is a water-vapor conversion coefficient, and the value of TT is 0.13-0.17.
Further, the precise location service module comprises
And the unmanned aerial vehicle data receiving module is used for receiving farmland soil measured by the unmanned aerial vehicle and providing position information to correct and accurately position the GNSS position information.
Further, the soil condition monitoring module comprises
The signal receiving module is used for receiving a direct signal sent by a transmitter of a GNSS satellite and a reflected signal formed after the direct signal is reflected by farmland freeze-thaw soil;
the satellite screening module is used for receiving a spectrogram generated by a direct signal, analyzing the oscillation amplitude of the signal, selecting a satellite with a better signal if the oscillation amplitude is more than 25 degrees, further screening the signal received by the receiver, and selecting the satellite with the better signal, wherein the spectrogram generation model is as follows,
the noise reduction module is used for calculating the signal-to-noise ratio of the freeze-thaw discrimination index of the screened signals by utilizing the trend item removing system to reduce noise, and the noise reduction model is as follows
Wherein, the first and the second end of the pipe are connected with each other,
direct power, reflected power and interference phase are respectively adopted, and SNR is used as an original value for judging the freeze-thaw state of the earth surface; a SNR separation module, wherein the first order SNR received by the receiver is determined by the direct signal power, so that the reflected signal is separated from the GNSS multipath, the SNR separation model is as follows
DSNR is the signal-to-noise ratio after the direct signal is separated, and the data obtained after separation form a oscillogram;
and the comparison module is used for comparing the obtained oscillogram with the theoretical oscillogram in the theoretical waveform simulation library and matching by a least square method to obtain the freeze-thaw state of the farmland soil.
Further, the soil humidity analog value calculating module comprises
The data reading module is used for reading SNR information and inputting altitude angle and azimuth angle information for satellite selection;
the satellite selecting module is used for analyzing the satellite condition, drawing a satellite distribution map, an altitude angle distribution map and an azimuth angle distribution map aiming at the data, and selecting the satellite with good satellite condition for next analysis to realize the satellite selecting process;
and the data extraction module is used for extracting the multipath reflection component from the SNR sequence, resampling the multipath reflection component, estimating amplitude and frequency characteristic parameters of the multipath reflection component by using the extracted data, reflecting soil humidity change and further monitoring soil humidity.
An agricultural condition comprehensive monitoring device based on Beidou and multi-sensor fusion comprises a farmland information collecting device; the farmland information collection device comprises a sensor, the sensor is connected with a soil moisture content instrument, the soil moisture content instrument is connected with an atmospheric water vapor monitoring and precipitation forecasting device and a soil freeze-thaw state monitoring device, and the top of the farmland information collection device is connected with an external signal receiver.
Further, the sensor comprises at least one of a rain gauge, an air velocity sensor, a soil temperature and conductivity two-in-one sensor and a soil pH sensor.
Furthermore, the external signal receiver comprises a support frame, a lithium ion storage battery is arranged in the support frame, the lithium ion storage battery is connected with a data acquisition device, the data acquisition device is connected with a solar cell panel, the data acquisition device is connected with the receiver, and the receiver is connected with an antenna.
Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
the invention has reasonable design, can automatically download and receive precise satellite orbit and clock error products, and carries out rainfall prediction in the zenith and inclination directions based on the Beidou/GNSS original observation value and a precise point positioning technology (PPP); the system can receive information of other GNSS positioning terminals and the unmanned aerial vehicle, issue precise correction information and realize precise position service; performing freeze thawing monitoring on soil according to carrier-to-noise ratio information of the GNSS original observation value, and performing self-correction by combining with actually measured soil moisture content data to realize large-range soil state monitoring; the method comprises the steps of extracting multipath reflection components by utilizing a carrier-to-noise ratio (SNR) observed value of the Beidou/GNSS, solving a soil humidity analog value, comparing historical data of crops in a preset range by obtaining the information, predicting climatic conditions, or analyzing remote sensing data in a region to obtain long-term development of growers, and further difficultly completing long-term monitoring management and prediction early warning operation of the growth of the crops in a specified region.
Drawings
FIG. 1 is a schematic diagram of a system of the present invention;
FIG. 2 is a block diagram of the agricultural situation integrated processing module system of the present invention;
FIG. 3 is a schematic structural diagram of an agricultural condition comprehensive monitoring device based on GNSS and multi-sensor fusion according to the present invention;
fig. 4 is a schematic diagram of an external signal receiver according to the present invention.
Reference numerals
1. A sensor; 2. a soil moisture content instrument; 3. monitoring atmospheric water vapor; 4. a precipitation prediction device; 5. a soil freezing and thawing state monitoring device; 6. an external signal receiver; 61. a support frame; 62. a lithium ion secondary battery; 63. a data acquisition device; 64. provided is a solar cell panel.
Detailed Description
In order to facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings, in which several embodiments of the invention are shown, but which may be embodied in many different forms and are not limited to the embodiments described herein, but rather are provided for the purpose of providing a more thorough disclosure of the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "page", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," "provided," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Examples
Referring to the attached figures 1-3, an agricultural condition comprehensive monitoring system based on GNSS and multi-sensor fusion comprises
The soil moisture content monitoring module is used for monitoring fertility parameters of the conveyed soil; the soil moisture content monitoring module comprises a soil humidity sensor and a soil nitrogen-phosphorus-potassium sensor, wherein the soil humidity sensor measures soil humidity information of different depth surfaces, and after the soil humidity information is fused with soil humidity obtained by Beidou inversion, a regional soil humidity map is obtained; the soil nitrogen phosphorus potassium sensor obtains the soil nutrient content and the change condition of the crops in different growth periods for judging the soil fertility;
the atmospheric environment parameter monitoring module is used for monitoring the parameter condition in the conveying atmosphere; the atmospheric environment parameter monitoring module comprises a wind speed meter, a wind direction meter and a rain gauge and is used for measuring surface environment parameters;
the storage module is used for recording and storing data of each sensor and is used for sending or post-processing the data at regular time through the communication module;
the communication module is used for transmitting the multi-source sensor data of the monitoring station to the server and receiving a service system control instruction;
the positioning module comprises a GNSS antenna and a GNSS receiver and is used for transmitting data information required in the GNSS;
the agricultural condition comprehensive processing module receives the parameter information transmitted by other modules and obtains the required agricultural condition information after processing;
the GNSS comprises a GNSS sensor, a power supply module, a storage battery and a GNSS receiver, wherein the GNSS sensor comprises a Chinese Beidou system.
The agricultural condition comprehensive processing module comprises
The rainfall amount forecasting module is used for obtaining the original observation value data of the positioning module, performing data processing by using a precision single-point positioning technology, namely a PPP technology, obtaining atmospheric water vapor information in a preset area within preset time, performing self-adaptive deep learning on the atmospheric water vapor information, establishing a regional farmland meteorological model, and performing small-scale agricultural meteorological forecasting and early warning;
the precise position service module receives the request of the terminal of each positioning module, issues precise correction information and realizes precise position service;
the soil state monitoring module is used for performing freeze thawing monitoring on soil according to carrier-to-noise ratio information of the GNSS original observation value, and performing self-correction by combining with actually-measured soil moisture content data to realize large-range soil state monitoring;
and the soil humidity analog value calculating module is used for extracting the multipath reflection component by utilizing the SNR observed value of the carrier-to-noise ratio of the positioning module and calculating the soil humidity analog value.
The precipitation forecasting module comprises
The parameter file reading module reads the original observation value data of the positioning module;
a zenith troposphere total delay ZTD calculation module which substitutes the original observation value data of the positioning module into a preset algorithm to calculate the zenith troposphere total delay ZTD value,
the zenith wet delay ZWD calculation module receives actually measured meteorological data, calculates out the dry delay of the ZHD zenith troposphere according to 90% of the total delay of the troposphere, and calculates the zenith wet delay ZWD in an input preset algorithm
PWV (Power Take-off) calculation module for atmospheric water-reducing quantity
Wherein TT is a water-vapor conversion coefficient having a value of 0.13 to 0.17, and preferably TT is 0.15.
The precise position service module comprises
And the unmanned aerial vehicle data receiving module is used for receiving farmland soil measured by the unmanned aerial vehicle and providing position information to correct and accurately position the GNSS position information.
The soil condition monitoring module comprises
The signal receiving module is used for receiving a direct signal sent by a transmitter of a GNSS satellite and a reflected signal formed after the direct signal is reflected by farmland freeze-thaw soil; wherein the direct signal frequency is in the L-band;
wherein the altitude angle of the direct signal is between 5 and 30 degrees, and the azimuth angle is between 0 and 360 degrees;
the satellite screening module is used for receiving a spectrogram generated by a direct signal, analyzing the oscillation amplitude of the signal, selecting a satellite with a better signal if the oscillation amplitude is more than 25 degrees, further screening the signal received by the receiver, and selecting the satellite with the better signal, wherein the spectrogram generation model is as follows,
the noise reduction module is used for calculating the signal-to-noise ratio of the freeze-thaw discrimination index of the screened signals by utilizing the trend item removing system to reduce noise, and the noise reduction model is as follows
Wherein the content of the first and second substances,
direct power, reflected power and interference phase are respectively adopted, and SNR is used as an original value for judging the freeze-thaw state of the earth surface; a SNR separation module, wherein the first order SNR received by the receiver is determined by the direct signal power, so that the reflected signal is separated from the GNSS multipath, and the SNR separation model is as follows
DSNR is the signal-to-noise ratio of the direct signal after separation, and the data obtained after separation form a waveform diagram;
and the comparison module is used for comparing the obtained oscillogram with the theoretical oscillogram in the theoretical waveform simulation library and matching by a least square method to obtain the freeze-thaw state of the farmland soil.
The soil humidity analog value calculating module comprises
The data reading module is used for reading SNR information and inputting altitude angle and azimuth angle information for satellite selection;
the satellite selecting module is used for analyzing the satellite condition, drawing a satellite distribution map, an altitude angle distribution map and an azimuth angle distribution map aiming at the data, and selecting the satellite with good satellite condition for next analysis to realize the satellite selecting process;
and the data extraction module is used for extracting the multipath reflection component from the SNR sequence, resampling the multipath reflection component, estimating amplitude and frequency characteristic parameters of the multipath reflection component by using the extracted data, reflecting soil humidity change and further monitoring soil humidity.
An agricultural condition comprehensive monitoring device based on Beidou and multi-sensor fusion comprises a farmland information collecting device; the farmland information collecting device comprises a sensor 1, the sensor is connected with a soil moisture content instrument 2, the soil moisture content instrument 2 is connected with an atmospheric water vapor monitoring device 3, a precipitation forecasting device 4 and a soil freezing and thawing state monitoring device 5, an external signal receiver 6 is connected to the top of the farmland information collecting device, and the farmland information collecting device processes and calculates GNSS data and actual data measured by each device to obtain basic information of a farmland.
The sensor comprises at least one of a rain gauge, an air velocity sensor, a soil temperature and conductivity two-in-one sensor and a soil PH sensor.
The external signal receiver 6 comprises a support frame 61, a lithium ion storage battery 62 is arranged in the support frame 61, the lithium ion storage battery 62 is connected with a data acquisition device 63, the data acquisition device 63 is connected with a solar cell panel 64, the data acquisition device 63 is connected with a receiver, the receiver is connected with an antenna 64, the lithium ion storage battery 62 is connected with the data acquisition device 63 through a waterproof direct-current power supply line group, the solar cell panel 64 and the data acquisition device 63 are connected through a solar connecting line, the data acquisition device receives data of all devices and carries out uniform storage processing, a chip connecting line connects the data acquisition device 63 with a UBLOX receiver, the receiver adopts a UBLOX receiver, silica gel is coated at each connecting position, disconnection caused by external mechanical pressure is avoided, a GNSS receiver used for experiments is obtained after completion, the corresponding data information is transmitted to an agricultural situation comprehensive monitoring system based on integration of multiple sensors by the farmland information acquisition device and the external signal receiver 6, and accordingly a series of monitoring and early warning of farmlands are carried out.
The above-mentioned embodiments only express a certain implementation mode of the present invention, and the description thereof is 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 shall fall within the protective scope of the invention; therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. The utility model provides an agricultural feelings integrated monitoring system based on GNSS and multisensor fuse which characterized in that: comprises that
The soil moisture content monitoring module is used for monitoring fertility parameters of the conveyed soil;
the atmospheric environment parameter monitoring module is used for monitoring the parameter condition in the conveying atmosphere;
the storage module is used for recording and storing data of each sensor and is used for sending or post-processing the data at regular time through the communication module;
the communication module is used for transmitting the multi-source sensor data of the monitoring station to the server and receiving a service system control instruction;
the positioning module comprises a GNSS antenna and a GNSS receiver and is used for transmitting data information required in the GNSS;
and the agricultural condition comprehensive processing module receives the parameter information transmitted by other modules and obtains the required agricultural condition information after processing.
2. The agricultural condition comprehensive monitoring system based on GNSS and multi-sensor fusion as claimed in claim 1, characterized in that: the agricultural condition comprehensive processing module comprises
The rainfall forecasting module is used for obtaining the original observation value data of the positioning module, performing data processing by using a precise single-point positioning technology, namely a PPP technology, obtaining atmospheric water vapor information in a preset area within preset time, performing self-adaptive deep learning on the atmospheric water vapor information, establishing a regional farmland meteorological model, and performing small-scale agricultural meteorological forecasting and early warning;
the precise position service module receives the request of the terminal of each positioning module, issues precise correction information and realizes precise position service;
the soil state monitoring module is used for performing freeze thawing monitoring on soil according to carrier-to-noise ratio information of the GNSS original observation value, and performing self-correction by combining with actually-measured soil moisture content data to realize large-range soil state monitoring;
and the soil humidity analog value calculating module is used for extracting the multipath reflection component by utilizing the SNR observed value of the carrier-to-noise ratio of the positioning module and calculating the soil humidity analog value.
3. The agricultural situation comprehensive monitoring system based on GNSS and multi-sensor fusion of claim 2, characterized in that: the precipitation forecasting module comprises
The parameter file reading module reads the original observation value data of the positioning module;
a zenith troposphere total delay ZTD calculation module which substitutes the original observation value data of the positioning module into a preset algorithm to calculate the zenith troposphere total delay ZTD value,
The zenith wet delay ZWD calculation module receives actually measured meteorological data, calculates out the dry delay of the ZHD zenith troposphere according to 90% of the total delay of the troposphere, and calculates the zenith wet delay ZWD in an input preset algorithm
Atmospheric water volume reducible (PWV) calculation module
In the formula, TT is a water-vapor conversion coefficient, and the value of TT is 0.13-0.17.
4. The agricultural situation comprehensive monitoring system based on GNSS and multi-sensor fusion of claim 2, characterized in that: the precise position service module comprises
And the unmanned aerial vehicle data receiving module is used for receiving farmland soil provided position information measured by the unmanned aerial vehicle and correcting and accurately positioning the GNSS position information.
5. The agricultural situation comprehensive monitoring system based on GNSS and multi-sensor fusion of claim 2, characterized in that: the soil condition monitoring module comprises
The signal receiving module is used for receiving a direct signal sent by a transmitter of a GNSS satellite and a reflected signal formed after the direct signal is reflected by farmland freeze-thaw soil;
a satellite screening module for receiving the frequency spectrogram generated by the direct signal, analyzing the oscillation amplitude of the signal, selecting a satellite with better signal when the oscillation amplitude is more than 25 degrees, further screening the signal received by the receiver, and generating a frequency spectrogram generating model as follows,
the noise reduction module is used for calculating the signal-to-noise ratio of the freeze-thaw discrimination index of the screened signals by utilizing the trend item removing system to reduce noise, and the noise reduction model is as follows
Wherein the content of the first and second substances,
direct power, reflected power and interference phase are respectively adopted, and SNR is used as an original value for judging the freeze-thaw state of the earth surface; a SNR separation module, wherein the first order SNR received by the receiver is determined by the direct signal power, so that the reflected signal is separated from the GNSS multipath, the SNR separation model is as follows
DSNR is the signal-to-noise ratio of the direct signal after separation, and the data obtained after separation form a waveform diagram;
and the comparison module is used for comparing the obtained oscillogram with the theoretical oscillogram in the theoretical waveform simulation library and matching by a least square method to obtain the freeze-thaw state of the farmland soil.
6. The agricultural situation comprehensive monitoring system based on GNSS and multi-sensor fusion of claim 2, characterized in that: the soil humidity analog value calculating module comprises
The data reading module is used for reading SNR information and inputting altitude angle and azimuth angle information for satellite selection;
the satellite selecting module is used for analyzing the satellite condition, drawing a satellite distribution map, an altitude angle distribution map and an azimuth angle distribution map aiming at the data, and selecting the satellite with good satellite condition for next analysis to realize the satellite selecting process;
and the data extraction module is used for extracting the multipath reflection component from the SNR sequence, resampling the multipath reflection component, estimating amplitude and frequency characteristic parameters of the multipath reflection component by using the extracted data, reflecting soil humidity change and further monitoring soil humidity.
7. An agricultural condition comprehensive monitoring device based on Beidou and multi-sensor fusion is characterized by comprising a farmland information collecting device; farmland information collection device includes sensor (1), soil moisture content appearance (2) is connected to the sensor, atmosphere moisture monitoring (3), precipitation amount forecasting device (4) and soil freeze thawing state monitoring devices (5) are connected in soil moisture content appearance (2), external signal receiver (6) is connected at farmland information collection device top.
8. The agricultural condition comprehensive monitoring device based on the Beidou and multi-sensor fusion of claim 7, characterized in that: the sensor comprises at least one of a rain gauge, a wind speed sensor, a soil temperature and conductivity two-in-one sensor and a soil PH sensor.
9. The agricultural condition comprehensive monitoring device based on the Beidou and multi-sensor fusion of claim 7, characterized in that: the external signal receiver (6) comprises a support frame (61), a lithium ion storage battery (62) is arranged in the support frame (61), the lithium ion storage battery (62) is connected with a data acquisition device (63), the data acquisition device (63) is connected with a solar cell panel (64), the data acquisition device (63) is connected with the receiver, and the receiver is connected with an antenna (64).
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