CN115979228B - Forest sample plot boundary and sample wood position measurement method - Google Patents
Forest sample plot boundary and sample wood position measurement method Download PDFInfo
- Publication number
- CN115979228B CN115979228B CN202310235342.0A CN202310235342A CN115979228B CN 115979228 B CN115979228 B CN 115979228B CN 202310235342 A CN202310235342 A CN 202310235342A CN 115979228 B CN115979228 B CN 115979228B
- Authority
- CN
- China
- Prior art keywords
- sample
- rotating part
- mobile
- terminal
- forest
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000002023 wood Substances 0.000 title claims abstract description 68
- 238000000691 measurement method Methods 0.000 title claims description 9
- 238000005259 measurement Methods 0.000 claims abstract description 179
- 238000000034 method Methods 0.000 claims abstract description 73
- 238000004364 calculation method Methods 0.000 claims description 44
- 230000008569 process Effects 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 20
- 238000011835 investigation Methods 0.000 claims description 10
- 230000004913 activation Effects 0.000 claims description 7
- 210000000481 breast Anatomy 0.000 claims description 6
- 230000003213 activating effect Effects 0.000 claims description 3
- 230000002618 waking effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 abstract description 8
- 238000012544 monitoring process Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000005070 sampling Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention relates to a method for measuring a boundary of a forest sample plot and a method for measuring a position of the sample plot, wherein an electronic positioning pile is fixed at a corner point of the forest sample plot, a mobile computing terminal is horizontally connected in a handheld manner, a rotatable mobile measuring terminal with two ranging modules is carried, the distance between the two ranging modules of the mobile measuring terminal and the electronic positioning pile is obtained, the position and the distance of the electronic positioning pile at the current distance are marked in real time, and a user is guided to travel to a target corner point position. And in the position of the target angular point, the rotating part is vertical to obtain the distance between the two ranging modules of the mobile measurement terminal and the electronic positioning pile, the horizontal distance of the mobile measurement terminal is calculated, the position of the target angular point is determined after repeated debugging, and the measurement of all angular points of the forest sample plot is completed. And (3) measuring the positions of the sample woods at the determined boundaries of the sample places, completing the measurement of all the sample woods according to a preset route by using a mobile measurement terminal, and drawing a fixed sample wood position diagram. The measuring method is simple and reliable, and can greatly improve the measuring efficiency.
Description
Technical Field
The invention relates to the field of acquisition, calculation and processing of data in the Internet of things and geographic space, in particular to a method for measuring the boundaries of forest sample places and the positions of sample woods.
Background
The forest resource investigation usually adopts local actual measurement investigation to replace full forest investigation, wherein a method for calculating and calculating the forest stand population by randomly laying investigation sample areas based on a sampling theory is a sampling investigation method, and the laid actual measurement land areas are called sampling sample areas (short sample areas); the method for selecting actual measurement survey plots based on the average state of forest stand is a standard ground survey method, and the actual measurement plots laid by the method are called typical plots (short for standard ground).
Accurate measurement of the location and area of a sample site (standard) is a precondition for conducting investigation, and the current methods for measuring the boundaries of the sample site (standard) mainly comprise three methods. Firstly, compass method uses compass to measure angle, tape or rope to measure distance, and according to closed wire method to carry out precision control, uses the most extensively, and the shortcoming is that the measurement needs the condition of looking through, consequently must clear away the shelter from thing such as bush, weeds on the appearance line, if topography is complicated or trees shelter from, need add measuring station and carry out the station-turning measurement, to the appearance line slope greater than 5, need use trigonometric function principle to carry out the level-changing, leads to whole method precision poor, the flow is complicated and inefficiency. Secondly, the total station method has the advantages of high precision and quick calculation, but still needs to look through conditions, has heavier equipment and is inconvenient to carry. The GPS and RTK positioning method has the advantages of no need of visual conditions, small equipment, low positioning precision under the forest, and being capable of being used for positioning the sample land, but being difficult to achieve the precision requirement in the border and the sample wood position measurement.
In view of the foregoing, there is a need for a method for measuring boundaries and positions of forest sample areas, which is simple to operate, has a simple measurement method, is reliable in accuracy, and can greatly improve the measurement efficiency.
Disclosure of Invention
The invention aims to provide a forest sample plot boundary and sample wood position measuring method which is simple to operate, simple in measuring method and reliable in precision and can greatly improve measuring efficiency.
The above purpose is realized by the following technical scheme: a measuring method for a forest sample area boundary comprises four corner points, wherein the rotation directions of the four corner points are P respectively in time 1 、P 2 、P 3 And P 4 ，P 1 And P 2 The distance between the two is the width of the sample plot, P 2 To P 3 The distance between the two wireless distance measuring modules is the length of a sample plot, a mobile measuring terminal is used for mobile measurement, the mobile measuring terminal is provided with a mobile measuring module, the mobile measuring module comprises a microprocessor, a first wireless distance measuring module, a second wireless distance measuring module and a first wireless communication module, the mobile measuring terminal comprises a supporting part and a rotating part, the middle part of the rotating part is rotationally connected with the supporting part, and the rotating part is rotationally connected with the rotating partThe two ends are respectively provided with the first wireless ranging module and the second wireless ranging module, and specifically comprise the following steps:
The method comprises the steps of (1) determining the type of the sample site according to investigation requirements, if the type of the sample site is a newly-established sample site and a traditional fixed sample site, executing the step (2), and if the type of the sample site is an intelligent fixed sample site, executing the step (3);
(2) At the corner point P of the forest sample 1 Arranging an electronic positioning pile, wherein the electronic positioning pile is provided with a third wireless ranging module and a second wireless communication module;
(3) Starting an electronic positioning pile and a mobile measurement terminal, wherein the mobile calculation terminal is connected with the mobile measurement terminal;
(4) The mobile computing terminal searches the electronic positioning pile, establishes connection after activating the electronic positioning pile, and obtains the position of the electronic positioning pile;
(5) To set the corner point P of the electronic positioning pile 1 As the origin, P 1 And P 2 The connecting line direction of (a) is Y axis, P 1 And P 4 The connecting line direction of the mobile measurement terminal is X axis, a coordinate system is established, and the mobile measurement terminal is connected with the mobile measurement terminal from P 1 Sequentially move to P 2 、P 3 And P 4 Then return to P 1 In the advancing process, the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are guaranteed to be at the same level, the distance between the third wireless ranging module and the first wireless ranging module and the distance between the third wireless ranging module and the second wireless ranging module are measured, the mobile computing terminal calculates the inclined distance from the electronic positioning pile to the center of the rotating part and the abscissa or the ordinate of the center of the rotating part, determines whether the electronic positioning pile is in a forest sample, and records P 2 、P 3 And P 4 Position coordinates of (c);
wherein, from P 1 Move to P 2 In the advancing process, calculating the abscissa of the center of the rotating part, keeping the value of the abscissa to be 0, moving in the direction, and when the calculated slant distance from the electronic positioning pile to the center of the rotating part is equal to the width of the sample land and the abscissa is 0, rotating the rotating part to be vertically arranged, so that the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are vertically arranged, and the mobile computing terminal calculates the longitudinal direction of the mobile measuring terminal after being projected to the horizontal planeCoordinates, determining P 2 Is a position of (2);
from P 2 Move to P 3 In the advancing process, calculating the ordinate of the center of the rotating part, keeping the value of the ordinate to move in the width direction of the sample plot, when the calculated slant distance from the electronic positioning pile to the center of the rotating part is equal to the hypotenuse length of the forest sample plot and the value of the ordinate is the width of the sample plot, rotating the rotating part to be vertically arranged, ensuring that the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are in the vertical direction, calculating the abscissa of the mobile measuring terminal after being projected to the horizontal plane by the mobile calculating terminal, and determining P 3 Is a position of (2);
from P 3 Move to P 4 In the advancing process, calculating the abscissa of the center of the rotating part, keeping the value of the abscissa to move in the direction of the sample length, rotating the rotating part to be vertically arranged when the calculated inclined distance from the electronic positioning pile to the center of the rotating part is equal to the sample length and the abscissa is the sample length, ensuring that the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are vertically arranged, calculating the ordinate of the mobile measuring terminal after being projected to the horizontal plane by the mobile calculating terminal, and determining P 4 Is a position of (2);
from P 4 Move to P 1 During the traveling process, calculating the ordinate of the center of the rotating part and keeping P 3 And P 4 Moving in the direction of the ordinate of 0 and finally returning to P 1 And (5) position, namely completing boundary measurement.
The further technical scheme is that in the step (5), the position of the third wireless ranging module is set as a, the position of the first wireless ranging module is set as B, the position of the second wireless ranging module is set as C, and the calculation formula of the slant distance from the electronic positioning pile to the center of the rotating part is as follows:
wherein L is T A distance between the first wireless ranging module and the second wireless ranging module; l (L) ab A distance between the third wireless ranging module and the first wireless ranging module; l (L) ac A distance between the third wireless ranging module and the second wireless ranging module; s is S i The inclined distance from the electronic positioning pile to the center of the rotating part is set; and angle B is the included angle between the connecting line of A, B and the connecting line of B, C.
It should be noted that, in the calculation formula of the present invention, when the center of the rotating portion is on the boundary of the sample area, the position of the first wireless ranging module, that is, the position B is outside the sample area, and after the rotating portion rotates vertically, the first wireless ranging module is above the second wireless ranging module, that is, the position B is above the position C;
Further technical proposal is that in the step (5), the reaction is carried out from P 1 Move to P 2 P 3 Move to P 4 The calculation formula of the abscissa of the center of the rotating part in the traveling process is as follows:
wherein X is i Is the abscissa of the rotation center on the horizontal plane.
Further technical proposal is that in the step (5), the reaction is carried out from P 2 Move to P 3 P 4 Move to P 1 The calculation formula of the ordinate of the center of the rotating part in the advancing process is as follows:
wherein Y is i Is the ordinate of the center of the rotation part in the horizontal plane.
Further technical proposal is that in the step (5)Determining P 2 And P 4 Calculation formula of ordinate of center of rotating part of position-shifting measurement terminal and determination of P 3 The calculation formula of the abscissa of the center of the rotating part of the position-shifting measurement terminal is as follows:
Y i ＝sin∠B·L ab
wherein: l (L) W To set the width of the forest pattern.
The further technical scheme is that in the step (5), a calculation formula for determining whether the center of the rotating part is in the forest plot is as follows:
wherein: p (P) i Whether the center of the current rotating part is in a forest sample area or not, if the center of the current rotating part is 1, the current rotating part is in the forest sample area; if the value is 0, the range of the forest sample is not in the forest sample area; l (L) l To set the length of the forest land, L W To set the width of the forest pattern.
Further technical proposal is that in the step (5), P is 2 、P 3 And P 4 The position determination of (a) also comprises the step of calibration, and P is determined 2 And P 4 When the position is, P is calculated 2 And P 4 After the ordinate of (2), calculating the difference between the width of the sample and the ordinate at the moment, wherein the calculation formula is as follows:
R1＝L w -Y i
wherein R1 is the difference between the width of the sample plot and the ordinate at the moment; if R1 is 0, the current position is P 2 Or P 4 If the rotation part is not 0, the X is maintained after the rotation part is horizontally arranged i =0 or X i ＝L l Continuously moving the distance with the value of R1, vertically setting the rotating part of the mobile measurement terminal after moving, and calculating Y again i And R1 until R1 is 0, determining the current position as P 2 Or P 4 ；
Determining P 3 When the position is, P is calculated 3 After the abscissa of (2), calculating the difference between the length of the sample and the abscissa at that time, and the calculation formula is as follows:
R2＝L l -X i wherein R2 is the difference between the width of the sample plot and the ordinate at the moment; if R2 is 0, the current position is P 3 If the rotation part is not 0, the rotation part is horizontally arranged and then Y is maintained i ＝L w Continuously moving the distance with the value of R2, vertically setting the rotating part of the mobile measurement terminal after moving, and calculating Y again i And R2 until R2 is 0, determining the current position as P 3 。
Further technical proposal is that in the step (5), P is determined 4 After the position, the rotating part is rotated to be horizontal, the position is moved and adjusted, the position of the electronic positioning pile to the center of the rotating part is determined, the inclined distance from the electronic positioning pile to the center of the rotating part is equal to the length of the sample plot, and the position with the ordinate of 0 is determined to be P 4 ' calculating the closing difference of the forest sample land, wherein the closing difference of the forest sample land is P 4 And P 4 'Linear distance', if the closing difference reaches the preset sample measurement precision requirement, moving the measurement terminal from P in the step (5) 4 ' move to P 1 And (3) completing the boundary measurement of the forest sample plot, and if the predetermined sample plot measurement accuracy requirement is not met, re-executing the step (5) until the accuracy requirement is met.
According to the further technical scheme, in the step (5), the boundary wood on the travelling route moves the mobile measurement terminal to the middle of the breast diameter of the wood sample, and whether the boundary wood is in the forest sample plot or not is judged, and the boundary wood is marked.
The mobile measurement terminal further comprises a microprocessor and a storage module, wherein the microprocessor stores the acquired wireless ranging signals, the azimuth angle and the inclination angle parameters of the electronic compass module through the storage module, the mobile measurement terminal is in communication connection with the mobile calculation terminal through a data interface or a first wireless communication module, and the mobile calculation terminal is used for acquiring the data of the storage module and performing data calculation in the step (5).
The mobile computing terminal is provided with a sample land measuring system for completing connection activation of the mobile measuring terminal and the electronic positioning pile, setting, measuring and checking of sample land boundaries and measuring of sample wood positions.
Further technical solution is that the sample plot measuring system includes:
mobile measurement terminal connection module: the mobile computing terminal is connected with the mobile measuring terminal in a wireless or wired manner, and the measuring parameters acquired by the mobile measuring terminal are acquired in real time;
an electronic spud scanning activation module: the mobile computing terminal is used for finding surrounding electronic positioning piles through wireless scanning, sending specific signals or keywords after connection, and waking up the whole circuit of the wireless positioning pile module;
a measurement sample place setting module: the method comprises the steps of setting angular point coordinates of a sample plot, the type of the sample plot and setting the length and the width of the sample plot;
a sample plot boundary measurement module: calculating and completing the boundary measurement of the sample plot, the judgment of the boundary wood of the sample plot and the positioning of the corner point of the sample plot according to a forest sample plot boundary measurement method by measuring the corner point and the sample plot type determined during the setting of the sample plot and acquiring the measurement parameters of a mobile measurement terminal in real time;
the sample area boundary precision checking module: calculating the measuring precision of the sample plot by combining the calculated closing difference of the forest sample plot and the sample plot type of the measuring sample plot;
a sample plot boundary measurement module: and calculating and completing the azimuth angle, the inclination angle, the inclined distance and the horizontal distance of all the samples in the sample plot according to the forest sample plot sample wood position measurement method by acquiring the measurement parameters of the mobile measurement terminal in real time.
The invention also provides a method for measuring the position of the sample wood, which uses P 1 The mobile measurement terminal moves along a preset route as a starting point, and sequentially performs one by one on all the samples in the forest sample field boundary measured by the method for measuring the forest sample field boundaryThe measurement, mobile measurement terminal is equipped with the electron compass module, includes following step:
(1) When the wood sample arrives at the wood sample to be measured, horizontally placing the rotating part of the mobile measurement terminal, ensuring that the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are at the same level, and recording the inclined distance from the electronic positioning pile to the center of the rotating part in real time;
(2) Horizontally moving the mobile measurement terminal along the breast diameter of the sample wood to enable the distance between the third wireless ranging module and the first wireless ranging module and the distance between the third wireless ranging module and the second wireless ranging module to be equal, wherein the inclined distance from the electronic positioning pile to the center of the rotating part at the moment is the inclined distance of the sample wood, and the angle of the electronic compass module is read to be the azimuth angle of the sample wood;
(3) The position of the mobile measurement terminal is kept still, the rotating part rotates to be vertically arranged, the first wireless ranging module and the second wireless ranging module at the two ends of the rotating part are guaranteed to be in the vertical direction, the distance between the third wireless ranging module and the first wireless ranging module and the distance between the third wireless ranging module and the second wireless ranging module are measured again, and the mobile calculation terminal calculates the horizontal distance and the inclined angle between the mobile measurement terminal and the electronic positioning pile after the mobile measurement terminal projects to the horizontal plane;
(4) And marking the measured sample wood, and sequentially completing measurement of all the sample wood in the sample area.
According to a further technical scheme, in the step (3), the horizontal distance between the center of the rotating part of the mobile measurement terminal and the electronic positioning pile after being projected to the horizontal plane is the horizontal distance between the electronic positioning pile and the sample wood, the center of the rotating part is set as D, and the calculation formulas of the horizontal distance between the center of the rotating part of the mobile measurement terminal and the electronic positioning pile after being projected to the horizontal plane and the inclination angle are as follows:
L ap ＝sin∠B·L ab
wherein L is ap The horizontal distance from the electronic positioning pile to the sample wood is set; l (L) ad The inclined distance from the electronic positioning pile to the sample wood is set; and the angle DAP is the inclination angle from the electronic positioning pile to the sample wood.
In the invention, an electronic positioning pile carrying a ranging module and a wireless communication module is fixed at a forest sample plot corner point, a mobile computing terminal is connected with a horizontal hand, and a rotatable mobile measuring terminal carrying two ranging modules and an electronic compass module is connected with the mobile computing terminal. And at the position of the target angular point, the mobile computing terminal calculates the horizontal distance of the mobile measuring terminal by acquiring the angle of the electronic compass module of the mobile measuring terminal and the horizontal distances of the two ranging modules and the electronic positioning pile through rotating the rotating part to be vertical by 90 degrees, and the position of the target angular point is determined after repeated debugging. And the user sequentially moves according to the prompt of the mobile computing terminal to finish the measurement of all the corner points of the forest sample plot.
And (3) measuring the positions of the sample woods, namely according to the determined boundaries of the sample places, a preset route (a zigzag route) is adopted, a handheld mobile measurement terminal is moved to the front of the sample woods, the handheld mobile terminal is placed at the chest diameter of the sample woods, the inclined distance and the azimuth angle are measured, the rotating part is rotated to a vertical state, the horizontal distance and the inclined angle are measured, all the sample woods are measured sequentially, and a fixed sample wood position diagram is drawn.
Compared with the prior art, the invention has the following advantages:
1. the measurement accuracy is higher: the distance measurement result in the invention is mainly determined by the distance measurement precision, the UWB wireless distance measurement precision can reach 0.1 meter, and the measurement precision requirement of sample land boundaries and sample wood positions in forestry investigation planning design is satisfied.
2. The measurement flow is simple, and the measurement efficiency is greatly improved: and fixing the electronic positioning pile at a certain angular point of the sample to be measured, carrying out traveling towards the target angular point by hand according to the prompting direction of the mobile computing terminal, judging whether the sample is in the sample by using the mobile computing terminal when encountering boundary wood, reaching the vicinity of the target angular point, and rotating the rotating part of the mobile measuring terminal to 90 degrees to determine the horizontal distance of the target angular point. The measurement process does not need visual conditions, so that the operations of line cutting and compass are avoided, the workload of the original 3 persons can be independently completed by only one person, the measurement is quick and simple, and the measurement efficiency is greatly improved;
3. Can be used for rapidly measuring conditions such as complex terrains, sample wood and shrub shielding: the method provided by the invention uses a wireless communication mode, can be used for measurement under a non-visual condition, has stronger adaptability to measurement under the conditions of complex terrains, sample wood, shrub shielding and the like, and does not need to increase the workload.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic view of an electronic spud according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a mobile measurement terminal according to an embodiment of the present invention;
FIG. 3 is a schematic view of a forest-like plot boundary measurement according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of forest land level measurement according to an embodiment of the present invention;
FIG. 5 is a schematic view of a forest style vertical measurement according to one embodiment of the present invention;
FIG. 6 is a block diagram of a sample site measurement system according to one embodiment of the present invention;
FIG. 7 is a schematic diagram of a sample wood measurement process according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of sample wood level measurement according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a sample vertical measurement according to an embodiment of the present invention.
In the figure:
1 electronic positioning pile 2 mobile measurement terminal 3-sample wood 4-forest sample plot
11 pile body 12 wireless positioning pile module 13 third wireless ranging antenna
21 first wireless ranging antenna 22 second wireless ranging antenna 23 rotating part
24 movement measuring module 25 support 26 pin
Detailed Description
The following detailed description of the invention, taken in conjunction with the accompanying drawings, is given by way of illustration and explanation only, and should not be taken as limiting the scope of the invention in any way. Furthermore, the features in the embodiments and in the different embodiments in this document can be combined accordingly by a person skilled in the art from the description of this document.
The embodiment of the invention is as follows, referring to figures 3-5, a method for measuring the boundary of a forest sample plot, wherein the forest sample plot is rectangular or square and comprises four corner points, and the rotation directions of the four corner points on time pins are respectively P 1 、P 2 、P 3 And P 4 ，P 1 And P 2 The distance between the two is the width of the sample plot, P 2 To P 3 The distance between the two is the sample length, uses mobile measurement terminal 2 to carry out mobile measurement, mobile measurement terminal 2 is equipped with and removes measurement module, remove measurement module and include microprocessor, first wireless ranging module, second wireless ranging module and first wireless communication module, mobile measurement terminal 2 includes supporting part and rotation part, the middle part of rotation part with the supporting part rotates to be connected, the both ends of rotation part are equipped with respectively first wireless ranging module and second wireless ranging module, specifically include the following step:
the method comprises the steps of (1) determining the type of the sample site according to investigation requirements, if the type of the sample site is a newly-established sample site and a traditional fixed sample site, executing the step (2), and if the type of the sample site is an intelligent fixed sample site, executing the step (3);
the newly set sample plot is not established before, and the newly set sample plot is the newly set sample plot; the method is characterized in that an electronic positioning pile 1 is not arranged, and a sample area which needs to be reset again at this time is a traditional fixed sample area; the electronic positioning pile 1 is arranged, and the sample area which needs to be reset again at this time is an intelligent fixed sample area.
(2) At the corner point P of the forest sample 1 Arranging an electronic positioning pile 1, wherein the electronic positioning pile 1 is provided with a third wireless ranging module and a second wireless communication module;
(3) Starting an electronic positioning pile 1 and a mobile measurement terminal 2, wherein the mobile calculation terminal is connected with the mobile measurement terminal 2;
(4) The mobile computing terminal searches the electronic positioning pile 1, establishes connection after activating the electronic positioning pile 1, and obtains the position of the electronic positioning pile 1;
(5) To set the corner point P of the electronic positioning pile 1 1 As the origin, P 1 And P 2 The connecting line direction of (a) is Y axis, P 1 And P 4 The connecting line direction of (2) is X axis, a coordinate system is established, and the mobile measurement terminal is 2 from P 1 Sequentially move to P 2 、P 3 And P 4 Then return to P 1 As shown in FIGS. 3 and 5,L 1 、L 2 、L 3 And L 4 The first boundary, the second boundary, the third boundary and the fourth boundary of the forest sample plot are sequentially arranged, and the sample plot length and the sample plot width are determined when the sample plot is arranged.
In the travelling process, as shown in fig. 4, the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are guaranteed to be at the same level, the distance between the third wireless ranging module and the first wireless ranging module and the distance between the third wireless ranging module and the second wireless ranging module are measured, the mobile computing terminal calculates the inclined distance from the electronic positioning pile 1 to the center of the rotating part and the horizontal coordinate or the vertical coordinate of the center of the rotating part, determines whether the electronic positioning pile is in a forest sample land or not, and records P 2 、P 3 And P 4 Position coordinates of (c);
wherein, from P 1 Move to P 2 During the advancing process, calculating the abscissa of the center of the rotating part, keeping the value of the abscissa to be 0, moving in the direction, and when the calculated slant distance from the electronic positioning pile 1 to the center of the rotating part is equal to the width of the sample land and the abscissa is 0, as shown in fig. 5, rotating the rotating part to be vertically arranged to ensure the rotating partThe first wireless ranging module and the second wireless ranging module at the two ends are in the vertical direction, the mobile computing terminal calculates the ordinate of the mobile measuring terminal 2 projected to the horizontal plane, and P is determined 2 Is a position of (2);
from P 2 Move to P 3 In the advancing process, calculating the ordinate of the center of the rotating part, keeping the value of the ordinate to move in the width direction of the sample, and when the calculated slant distance from the electronic positioning pile 1 to the center of the rotating part is equal to the hypotenuse length of the forest sample and the value of the ordinate is the width of the sample, as shown in fig. 5, rotating the rotating part to be vertically arranged, ensuring that the first wireless ranging module and the second wireless ranging module at the two ends of the rotating part are vertically arranged, calculating the abscissa of the mobile measuring terminal 2 after being projected to the horizontal plane by the mobile calculating terminal, and determining P 3 Is a position of (2);
from P 3 Move to P 4 In the advancing process, calculating the abscissa of the center of the rotating part, keeping the value of the abscissa to move in the direction of the sample length, and when the calculated slant distance from the electronic positioning pile 1 to the center of the rotating part is equal to the sample length and the abscissa is the sample length, as shown in fig. 5, rotating the rotating part to be vertically arranged to ensure that the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are vertically arranged, calculating the ordinate of the mobile measuring terminal 2 projected to the horizontal plane by the mobile calculating terminal, and determining P 4 Is a position of (2);
from P 4 Move to P 1 During the traveling process, calculating the ordinate of the center of the rotating part and keeping P 3 And P 4 Moving in the direction of the ordinate of 0 and finally returning to P 1 And (5) position, namely completing boundary measurement.
In FIG. 5, A 1 、A 2 、A 3 And A 4 For moving the point behind the projection of the measuring terminal 2 to the horizontal plane.
As shown in fig. 3, in the step (5), the position of the third wireless ranging module is set to be a, the position of the first wireless ranging module is set to be B, the position of the second wireless ranging module is set to be C, and the calculation formula of the slant distance from the electronic positioning pile 1 to the center of the rotating part is as follows:
wherein L is T A distance between the first wireless ranging module and the second wireless ranging module; l (L) ab A distance between the third wireless ranging module and the first wireless ranging module; l (L) ac A distance between the third wireless ranging module and the second wireless ranging module; s is S i The inclined distance from the electronic positioning pile 1 to the center of the rotating part; and angle B is the included angle between the connecting line of A, B and the connecting line of B, C.
It should be noted that, as shown in fig. 4 and fig. 5, in the calculation formulas of the present invention, when the center of the rotating portion is on the boundary of the sample area, the position of the first wireless ranging module, that is, the position B is outside the sample area, and after the rotating portion rotates vertically, the first wireless ranging module is above the second wireless ranging module, that is, the position B is above the position C;
As shown in FIG. 4, from P in the step (5) 1 Move to P 2 P 3 Move to P 4 The calculation formula of the abscissa of the center of the rotating part in the traveling process is as follows:
wherein X is i Is the abscissa of the rotation center on the horizontal plane.
As shown in FIG. 4, from P in the step (5) 2 Move to P 3 P 4 Move to P 1 The calculation formula of the ordinate of the center of the rotating part in the advancing process is as follows:
wherein Y is i Is the ordinate of the center of the rotation part in the horizontal plane.
In the step (5), as shown in FIG. 5, P is determined 2 And P 4 Calculation formula of ordinate of rotation part center of position-shifting measurement terminal 2 and determination of P 3 The calculation formula of the abscissa of the rotation part center of the position-shifting measurement terminal 2 is:
Y i ＝sin∠B·L ab
wherein: l (L) W To set the width of the forest pattern.
In another embodiment of the present invention, in the above embodiment, a calculation formula for determining whether the center of the rotation part is in the forest land in the step (5) is:
wherein: p (P) i Whether the center of the current rotating part is in a forest sample area or not, if the center of the current rotating part is 1, the current rotating part is in the forest sample area; if the value is 0, the range of the forest sample is not in the forest sample area; l (L) l To set the length of the forest land, L W To set the width of the forest pattern.
In another embodiment of the present invention, based on the above embodiment, in the step (5), the step is performed at P 2 、P 3 And P 4 The position determination of (a) also comprises the step of calibration, and P is determined 2 And P 4 When the position is, P is calculated 2 And P 4 After the ordinate of (2), calculating the difference between the width of the sample and the ordinate at the moment, wherein the calculation formula is as follows:
R1＝L w -Y i wherein R1 is the difference between the width of the sample plot and the ordinate at the moment; if R1 is 0, the current position is P 2 Or P 4 If the rotation part is not 0, the X is maintained after the rotation part is horizontally arranged i =0 or X i ＝L l Continuing to move the distance with the value R1, vertically setting the rotating part of the mobile measurement terminal 2 after moving, and calculating Y again i And R1 until R1 is 0, determining the current position as P 2 Or P 4 ；
Determining P 3 When the position is, P is calculated 3 After the abscissa of (2), calculating the difference between the length of the sample and the abscissa at that time, and the calculation formula is as follows:
R2＝L l -X i
wherein R2 is the difference between the width of the sample plot and the abscissa at the moment; if R2 is 0, the current position is P 3 If the rotation part is not 0, the rotation part is horizontally arranged and then Y is maintained i ＝L w Continuing to move the distance with the value of R2, vertically setting the rotating part of the mobile measurement terminal 2 after moving, and calculating Y again i And R2 until R2 is 0, determining the current position as P 3 。
In another embodiment of the present invention, based on the above embodiment, P is determined in the step (5) 4 After the position, the rotating part is rotated to be horizontal, the position is moved and adjusted, the position of the electronic positioning pile 1 to the center of the rotating part is determined, the inclined distance from the electronic positioning pile 1 to the center of the rotating part is equal to the length of a sample plot, and the position with the vertical coordinate of 0 is determined to be P 4 ' calculating the closing difference of the forest sample land, wherein the closing difference of the forest sample land is P 4 And P 4 'straight line distance,' if the closing difference reaches the predetermined pattern measurement accuracy requirement, moving the measurement terminal 2 from P in step (5) 4 ' move to P 1 Finishing the boundary measurement of the forest sample plot, and if the predetermined sample plot measurement accuracy requirement is not met, re-executing the step (5) until the accuracy is reachedAnd (5) solving.
In another embodiment of the present invention, in the step (5), the boundary wood on the travelling path moves the mobile measurement terminal 2 to the middle of the breast diameter of the wood sample, and judges whether the boundary wood is in the forest sample plot, and marks the boundary wood.
The mobile measurement terminal 2 of the present invention further comprises a microprocessor and a storage module, wherein the microprocessor stores the acquired wireless ranging signal, the azimuth angle and the inclination angle parameters of the electronic compass module through the storage module, the mobile measurement terminal 2 is in communication connection with a mobile computing terminal through a data interface or a first wireless communication module, and the mobile computing terminal is used for acquiring the data of the storage module and performing the data computation in the step (5).
Specifically, the first wireless ranging module and the second wireless ranging module of the mobile measurement terminal 2 are respectively provided with a first wireless ranging antenna 21 and a second wireless ranging antenna 22, and the rotating portion 23 is connected to the supporting portion 25 through a pin 26.
The mobile measurement terminal 2 comprises a mobile measurement module 24, the mobile measurement module 24 comprises a shell and a PCB circuit board, the PCB circuit board comprises a microprocessor, a first wireless ranging module, a second wireless ranging module, a power module, a first wireless communication module, a storage module, a data interface, a timer and an electronic compass module, wherein the microprocessor comprises a memory, a counter, A/D conversion and the like, and the calculation, the storage and the control of data measurement are completed; the wireless ranging module sends and receives parameters of a radio signal broadcasting module, and the wireless ranging module is connected with a wireless ranging antenna; the first wireless communication module is connected with the mobile computing terminal by using USB wired or wireless protocols such as wifi, bluetooth, lora and the like; the power module consists of a lithium battery, a power management chip and a switch and provides power for the microprocessor; the storage module stores the microprocessor record data; the data interface is used for connecting a mobile computing terminal, acquiring measurement information of the mobile measurement module 24, and can also be used for development, test or field problem processing; the timer is used for providing high-precision timing; the electronic compass module is used for acquiring current azimuth angle and inclination angle parameters.
Mobile computing terminals refer to smart devices that are equipped with a geodetic system and have computing, storage, and network communications, including but not limited to smartphones, tablets, notebooks, and mobile workstations.
When the mobile measurement module 24 works, the mobile computing terminal is connected with the mobile measurement module 24 through a wireless signal or a data interface, the mobile computing terminal is connected with the wireless positioning pile through the wireless signal, the microprocessor of the mobile measurement module 24 stores the acquired signals acquired by the wireless ranging module, the azimuth angle and the inclination angle parameters of the electronic compass module through the storage module, the signals are transmitted to the mobile computing terminal through the data interface or the wireless communication module, the mobile computing terminal calculates the azimuth angle and the inclination angle of the mobile measuring terminal 2 and the distance between the mobile computing terminal and the electronic positioning pile 1 through signal processing and using a TOF algorithm, and the horizontal and vertical rotation part 23 is used for acquiring the slant distance, the horizontal coordinate and the vertical coordinate of the current mobile measuring terminal 2 and judging whether the information is in a sample area.
The mobile computing terminal is provided with a sample plot measuring system and is used for completing connection activation of the mobile measuring terminal 2 and the electronic positioning pile 1, sample plot boundary setting, measurement and inspection, and sample log position measurement, and the functions comprise mobile measuring terminal connection, electronic positioning pile scanning activation, sample plot setting, sample plot boundary measurement, sample plot boundary precision inspection and sample log position measurement.
As shown in fig. 6, the sample site measurement system includes:
mobile measurement terminal connection module: the method comprises the steps that the mobile computing terminal is connected with the mobile measuring terminal 2 in a wireless or wired mode, and measuring parameters acquired by the mobile measuring terminal 2 are acquired in real time;
an electronic spud scanning activation module: the mobile computing terminal is used for finding surrounding electronic positioning piles through wireless scanning, sending specific signals or keywords after connection, and waking up the whole circuit of the wireless positioning pile module;
a measurement sample place setting module: the method comprises the steps of setting angular point coordinates of a sample plot, the type of the sample plot and setting the length and the width of the sample plot;
a sample plot boundary measurement module: calculating and completing the boundary measurement of the sample plot, the judgment of the boundary wood of the sample plot and the positioning of the corner point of the sample plot according to a forest sample plot boundary measurement method by measuring the corner point and the sample plot type determined during the setting of the sample plot and acquiring the measurement parameters of the mobile measurement terminal 2 in real time;
the sample area boundary precision checking module: calculating the measuring precision of the sample plot by combining the calculated closing difference of the forest sample plot and the sample plot type of the measuring sample plot;
a sample plot boundary measurement module: by acquiring measurement parameters of the mobile measurement terminal 2 in real time, according to a forest sample site sample wood position measurement method, azimuth angles, inclination angles, inclined distances and horizontal distances of all sample woods in the sample site are calculated.
As shown in fig. 1, the electronic spud 1 is composed of a spud body 11, a wireless spud module 12 and a third wireless ranging antenna 13. The pile body 11 is used for fixing the electronic positioning pile 1 on the ground, and the wooden piles, the aluminum alloy, the PVC pipe and the like are convenient to carry and can be made of long-term storage materials.
The wireless spud module 12 comprises a housing and a PCB circuit board including a microprocessor, a third wireless ranging module, a power module, a second wireless communication module, a monitoring module, a storage module, a data interface, and a timer. The microprocessor contains memory, counter, A/D conversion, etc. to complete calculation, storage and control of data measurement; the third wireless ranging module sends and receives the parameters of the radio signal broadcasting module, and the third wireless ranging module is connected with the third wireless ranging antenna 13; the power module consists of a lithium battery, a power management chip and a switch and provides power for the microprocessor; the second wireless communication module is connected with the mobile measurement terminal 2 by using USB wired or wireless protocols such as wifi, bluetooth, lora and the like; the storage module stores the microprocessor record data; the data interface is used for development, testing or field problem processing; the monitoring module provides monitoring service in the low-power-consumption running state of the wireless positioning pile module 12, and wakes up the whole circuit of the wireless positioning pile module 12 after receiving a specific signal or keyword; the timer is used for providing high-precision timing.
When the wireless spud module 12 is in a low-power-consumption operation state, only the monitoring module operates, and when a specific signal or a keyword broadcast by the mobile measurement terminal 2 is received, the whole circuit of the wireless spud module 12 is awakened. The mobile measurement terminal 2 is connected with the wireless spud module 12 through wireless signals, the distance between the mobile measurement terminal 2 and the electronic spud 1 is calculated through TOF algorithm, and the slant distance and the azimuth angle of the wireless spud module 12 are obtained through horizontally rotating the mobile measurement terminal 2. After the mobile measurement terminal 2 is disconnected from the wireless spud module 12, the wireless spud module 12 is in a dormant state after a preset fixed time elapses, and only the monitoring module is in a working state.
The third wireless ranging antenna 13 is a third wireless ranging module signal amplifying device for ranging, and the first wireless ranging module, the second wireless ranging module and the third wireless ranging module recommend to use a UWB wireless ranging module according to the present invention, and the wireless ranging accuracy can reach 0.1 meter.
The invention also provides a method for measuring the position of the sample wood, which comprises the following steps: as shown in FIGS. 7-9, at P 1 As a starting point, the mobile measurement terminal 2 travels along a predetermined route, sequentially measures all the samples within the forest sample plot boundaries measured by the above-described method for measuring forest sample plot boundaries one by one, and the mobile measurement terminal 2 is provided with an electronic compass module, comprising the steps of:
(1) When the wood sample arrives at the tested sample, the rotating part of the mobile measurement terminal 2 is horizontally placed, the first wireless ranging module and the second wireless ranging module at the two ends of the rotating part are ensured to be at the same level, and the inclined distance from the electronic positioning pile 1 to the center of the rotating part is recorded in real time;
(2) Horizontally moving the mobile measurement terminal 2 along the breast diameter of the sample wood to enable the distance between the third wireless ranging module and the first wireless ranging module and the distance between the third wireless ranging module and the second wireless ranging module to be equal, wherein the inclined distance from the electronic positioning pile 1 to the center of the rotating part is the inclined distance of the sample wood at the moment, and the angle of the electronic compass module is read to be the azimuth angle of the sample wood; the calculation is the same as the measurement of the boundaries of the forest sample plot.
(3) The position of the mobile measurement terminal 2 is kept still, the rotating part rotates to be vertically arranged, the first wireless ranging module and the second wireless ranging module at the two ends of the rotating part are guaranteed to be in the vertical direction, the distance between the third wireless ranging module and the first wireless ranging module and the distance between the third wireless ranging module and the second wireless ranging module are measured again, and the mobile calculation terminal calculates the horizontal distance and the inclined angle between the mobile measurement terminal 2 and the electronic positioning pile 1 after being projected to the horizontal plane;
at this time, the horizontal distance between the center of the rotating part of the mobile measurement terminal 2 and the electronic positioning pile 1 after being projected to the horizontal plane is the horizontal distance between the electronic positioning pile 1 and the sample wood, the center of the rotating part is set as D, and the calculation formula of the horizontal distance and the inclination angle between the center of the rotating part of the mobile measurement terminal 2 and the electronic positioning pile 1 after being projected to the horizontal plane is as follows:
L ap ＝sin∠B·L ab
Wherein L is ap The horizontal distance from the electronic positioning pile 1 to the sample wood; l (L) ad The inclined distance from the electronic positioning pile 1 to the sample wood is set; the angle DAP is the inclination angle from the electronic positioning pile 1 to the sample wood;
(4) And marking the tested wood samples by using chalks or red paint, and sequentially completing the measurement of all the wood samples in the sample area.
It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (14)
1. A measuring method for a forest sample area boundary comprises four corner points, wherein the rotation directions of the four corner points are P respectively in time 1 、P 2 、P 3 And P 4 ，P 1 And P 2 Between (a) and (b)Distance is the width of the sample area, P 2 To P 3 The distance between the two is the sample length, and is characterized in that a mobile measurement terminal is used for mobile measurement, the mobile measurement terminal is provided with a mobile measurement module, the mobile measurement module comprises a microprocessor, a first wireless ranging module, a second wireless ranging module and a first wireless communication module, the mobile measurement terminal comprises a supporting part and a rotating part, the middle part of the rotating part is rotationally connected with the supporting part, and two ends of the rotating part are respectively provided with the first wireless ranging module and the second wireless ranging module, and the method specifically comprises the following steps of:
The method comprises the steps of (1) determining the type of the sample site according to investigation requirements, if the type of the sample site is a newly-established sample site and a traditional fixed sample site, executing the step (2), and if the type of the sample site is an intelligent fixed sample site, executing the step (3);
(2) At the corner point P of the forest sample 1 Arranging an electronic positioning pile, wherein the electronic positioning pile is provided with a third wireless ranging module and a second wireless communication module;
(3) Starting an electronic positioning pile and a mobile measurement terminal, wherein the mobile calculation terminal is connected with the mobile measurement terminal;
(4) The mobile computing terminal searches the electronic positioning pile, establishes connection after activating the electronic positioning pile, and obtains the position of the electronic positioning pile;
(5) To set the corner point P of the electronic positioning pile 1 As the origin, P 1 And P 2 The connecting line direction of (a) is Y axis, P 1 And P 4 The connecting line direction of the mobile measurement terminal is X axis, a coordinate system is established, and the mobile measurement terminal is connected with the mobile measurement terminal from P 1 Sequentially move to P 2 、P 3 And P 4 Then return to P 1 In the advancing process, the first wireless ranging module and the second wireless ranging module at the two ends of the rotating part are guaranteed to be at the same level, the distance between the third wireless ranging module and the first wireless ranging module and the distance between the third wireless ranging module and the second wireless ranging module are measured, the mobile computing terminal calculates the inclined distance from the electronic positioning pile to the center of the rotating part and the abscissa or the ordinate of the center of the rotating part, determines whether the electronic positioning pile is in a forest sample, and records P 2 、P 3 And P 4 Position coordinates of (c);
wherein, from P 1 Move to P 2 In the advancing process, calculating the abscissa of the center of the rotating part, keeping the value of the abscissa to be 0, moving in the direction, when the calculated inclined distance from the electronic positioning pile to the center of the rotating part is equal to the width of the sample land and the abscissa is 0, rotating the rotating part to be vertically arranged, ensuring that the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are vertically arranged, calculating the ordinate of the mobile measuring terminal after being projected to the horizontal plane by the mobile calculating terminal, and determining P 2 Is a position of (2);
from P 2 Move to P 3 In the advancing process, calculating the ordinate of the center of the rotating part, keeping the value of the ordinate to move in the width direction of the sample plot, when the calculated slant distance from the electronic positioning pile to the center of the rotating part is equal to the hypotenuse length of the forest sample plot and the value of the ordinate is the width of the sample plot, rotating the rotating part to be vertically arranged, ensuring that the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are in the vertical direction, calculating the abscissa of the mobile measuring terminal after being projected to the horizontal plane by the mobile calculating terminal, and determining P 3 Is a position of (2);
from P 3 Move to P 4 In the advancing process, calculating the abscissa of the center of the rotating part, keeping the value of the abscissa to move in the direction of the sample length, rotating the rotating part to be vertically arranged when the calculated inclined distance from the electronic positioning pile to the center of the rotating part is equal to the sample length and the abscissa is the sample length, ensuring that the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are vertically arranged, calculating the ordinate of the mobile measuring terminal after being projected to the horizontal plane by the mobile calculating terminal, and determining P 4 Is a position of (2);
from P 4 Move to P 1 During the traveling process, calculating the ordinate of the center of the rotating part and keeping P 3 And P 4 Moving in the direction of the ordinate of 0 and finally returning to P 1 And (5) position, namely completing boundary measurement.
2. The method for measuring the boundary of the forest-like land according to claim 1, wherein in the step (5), the position of the third wireless ranging module is set to be a, the position of the first wireless ranging module is set to be B, the position of the second wireless ranging module is set to be C, and the calculation formula of the slant distance from the electronic positioning pile to the center of the rotating part is as follows:
wherein L is T A distance between the first wireless ranging module and the second wireless ranging module; l (L) ab A distance between the third wireless ranging module and the first wireless ranging module; l (L) ac A distance between the third wireless ranging module and the second wireless ranging module; s is S i The inclined distance from the electronic positioning pile to the center of the rotating part is set; and angle B is the included angle between the connecting line of A, B and the connecting line of B, C.
3. The method for measuring forest-like land boundaries in accordance with claim 2, wherein said step (5) is performed from P 1 Move to P 2 P 3 Move to P 4 The calculation formula of the abscissa of the center of the rotating part in the traveling process is as follows:
Wherein X is i Is the abscissa of the rotation center on the horizontal plane.
4. A method of measuring forest-like boundaries in accordance with claim 3, wherein said step (5) is performed from P 2 Move to P 3 AndP 4 Move to P 1 The calculation formula of the ordinate of the center of the rotating part in the advancing process is as follows:
wherein Y is i Is the ordinate of the center of the rotation part in the horizontal plane.
5. The method for measuring boundaries of forest-like areas according to claim 2, wherein in the step (5), P is determined 2 And P 4 Calculation formula of ordinate of center of rotating part of position-shifting measurement terminal and determination of P 3 The calculation formula of the abscissa of the center of the rotation part of the mobile measurement terminal during the position is as follows:
Y i ＝sin∠B·L ab
wherein: l (L) W To set the width of the forest pattern.
6. The method for measuring a forest-like land boundary according to claim 5, wherein the calculation formula for determining whether the rotation center is within the forest-like land in step (5) is:
wherein: p (P) i Whether the center of the current rotating part is in a forest sample area or not, if the center of the current rotating part is 1, the current rotating part is in the forest sample area; if the value is 0, the range of the forest sample is not in the forest sample area; l (L) l To set the length of the forest land, L W To set the width of the forest pattern.
7. The method for measuring forest-like land boundaries in accordance with claim 6 wherein in said step (5), at P 2 、P 3 And P 4 The position determination of (a) also comprises the step of calibration, and P is determined 2 And P 4 When the position is, P is calculated 2 And P 4 After the ordinate of (2), calculating the difference between the width of the sample and the ordinate at the moment, wherein the calculation formula is as follows:
R1＝L w -Y i
wherein R1 is the difference between the width of the sample plot and the ordinate at the moment; if R1 is 0, the current position is P 2 Or P 4 If the rotation part is not 0, the X is maintained after the rotation part is horizontally arranged i =0 or X i ＝L l Continuously moving the distance with the value of R1, vertically setting the rotating part of the mobile measurement terminal after moving, and calculating Y again i And R1 until R1 is 0, determining the current position as P 2 Or P 4 ；
Determining P 3 When the position is, P is calculated 3 After the abscissa of (2), calculating the difference between the length of the sample and the abscissa at that time, and the calculation formula is as follows:
R2＝L l -X i
wherein R2 is the difference between the width of the sample plot and the horizontal coordinate at the moment; if R2 is 0, the current position is P 3 If the rotation part is not 0, the rotation part is horizontally arranged and then Y is maintained i ＝L w Continuously moving the distance with the value of R2, vertically setting the rotating part of the mobile measurement terminal after moving, and calculating Y again i And R2 until R2 is 0, determining the current position as P 3 。
8. The method for measuring boundaries of forest-like areas according to claim 7, wherein P is determined in the step (5) 4 After the position, the rotating part is rotated to be horizontal, the position is moved and adjusted, the position of the electronic positioning pile to the center of the rotating part is determined, the inclined distance from the electronic positioning pile to the center of the rotating part is equal to the length of the sample plot, and the position with the vertical coordinate of 0 is determinedThe position is P 4 ' calculating the closing difference of the forest sample land, wherein the closing difference of the forest sample land is P 4 And P 4 'Linear distance', if the closing difference reaches the preset sample measurement precision requirement, moving the measurement terminal from P in the step (5) 4 ' move to P 1 And (3) completing the boundary measurement of the forest sample plot, and if the predetermined sample plot measurement accuracy requirement is not met, re-executing the step (5) until the accuracy requirement is met.
9. The method according to claim 8, wherein the boundary wood on the travel route in the step (5) is moved to the middle of the breast diameter of the wood sample, and it is determined whether the boundary wood is in the forest sample, and the boundary wood is marked.
10. The method for measuring the boundaries of forest-like plots according to claim 9, wherein the mobile measurement terminal further comprises a microprocessor and a storage module, the microprocessor stores the acquired wireless ranging signal, the azimuth angle and the inclination angle parameters of the electronic compass module through the storage module, the mobile measurement terminal is in communication connection with a mobile computing terminal through a data interface or a first wireless communication module, and the mobile computing terminal is used for acquiring the data of the storage module and performing the data calculation in the step (5).
11. A method for measuring boundaries of forest sample places according to claim 10, wherein the mobile computing terminal is equipped with a sample place measuring system for completing connection activation of the mobile measuring terminal and the electronic positioning piles, sample place boundary setting, measuring and checking, and sample wood position measurement.
12. A method of measuring a forest spline boundary according to claim 11, wherein said spline measurement system comprises:
mobile measurement terminal connection module: the mobile computing terminal is connected with the mobile measuring terminal in a wireless or wired manner, and the measuring parameters acquired by the mobile measuring terminal are acquired in real time;
an electronic spud scanning activation module: the mobile computing terminal is used for finding surrounding electronic positioning piles through wireless scanning, sending specific signals or keywords after connection, and waking up the whole circuit of the wireless positioning pile module;
a measurement sample place setting module: the method comprises the steps of setting angular point coordinates of a sample plot, the type of the sample plot and setting the length and the width of the sample plot;
a sample plot boundary measurement module: calculating and completing the boundary measurement of the sample plot, the judgment of the boundary wood of the sample plot and the positioning of the corner point of the sample plot according to a forest sample plot boundary measurement method by measuring the corner point and the sample plot type determined during the setting of the sample plot and acquiring the measurement parameters of a mobile measurement terminal in real time;
The sample area boundary precision checking module: calculating the measuring precision of the sample plot by combining the calculated closing difference of the forest sample plot and the sample plot type of the measuring sample plot;
a sample plot boundary measurement module: and calculating and completing the azimuth angle, the inclination angle, the inclined distance and the horizontal distance of all the samples in the sample plot according to the forest sample plot sample wood position measurement method by acquiring the measurement parameters of the mobile measurement terminal in real time.
13. A method for measuring the position of a sample wood is characterized by using P 1 As a starting point, the mobile measurement terminal travels along a predetermined route, sequentially measures all the samples within the forest sample plot boundary measured by the measuring method of the forest sample plot boundary according to any one of claims 2 to 12 one by one, and is provided with an electronic compass module, comprising the steps of:
(1) When the wood sample arrives at the wood sample to be measured, horizontally placing the rotating part of the mobile measurement terminal, ensuring that the first wireless ranging module and the second wireless ranging module at two ends of the rotating part are at the same level, and recording the inclined distance from the electronic positioning pile to the center of the rotating part in real time;
(2) Horizontally moving the mobile measurement terminal along the breast diameter of the sample wood to enable the distance between the third wireless ranging module and the first wireless ranging module and the distance between the third wireless ranging module and the second wireless ranging module to be equal, wherein the inclined distance from the electronic positioning pile to the center of the rotating part at the moment is the inclined distance of the sample wood, and the angle of the electronic compass module is read to be the azimuth angle of the sample wood;
(3) The position of the mobile measurement terminal is kept still, the rotating part rotates to be vertically arranged, the first wireless ranging module and the second wireless ranging module at the two ends of the rotating part are guaranteed to be in the vertical direction, the distance between the third wireless ranging module and the first wireless ranging module and the distance between the third wireless ranging module and the second wireless ranging module are measured again, and the mobile calculation terminal calculates the horizontal distance and the inclined angle between the mobile measurement terminal and the electronic positioning pile after the mobile measurement terminal projects to the horizontal plane;
(4) And marking the measured sample wood, and sequentially completing measurement of all the sample wood in the sample area.
14. The method according to claim 13, wherein in the step (3), the horizontal distance between the electronic positioning pile and the center of the rotating part of the mobile measurement terminal after being projected to the horizontal plane is the horizontal distance between the electronic positioning pile and the sample wood, the center of the rotating part is D, and the calculation formula of the horizontal distance between the electronic positioning pile and the center of the rotating part of the mobile measurement terminal after being projected to the horizontal plane is as follows:
L ap ＝sin∠B·L ab
wherein L is ap The horizontal distance from the electronic positioning pile to the sample wood is set; l (L) ad The inclined distance from the electronic positioning pile to the sample wood is set; and the angle DAP is the inclination angle from the electronic positioning pile to the sample wood.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310235342.0A CN115979228B (en) | 2023-03-13 | 2023-03-13 | Forest sample plot boundary and sample wood position measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310235342.0A CN115979228B (en) | 2023-03-13 | 2023-03-13 | Forest sample plot boundary and sample wood position measurement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115979228A CN115979228A (en) | 2023-04-18 |
| CN115979228B true CN115979228B (en) | 2024-01-16 |
Family
ID=85963354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310235342.0A Active CN115979228B (en) | 2023-03-13 | 2023-03-13 | Forest sample plot boundary and sample wood position measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115979228B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621523A (en) * | 2012-04-09 | 2012-08-01 | 北京林业大学 | Method and system for calibrating borderless sample plot |
| CN104535024A (en) * | 2014-10-23 | 2015-04-22 | 北京林业大学 | Forest calculating and measuring method for observing sample plot composed of five trees |
| CN104613940A (en) * | 2015-02-05 | 2015-05-13 | 北京林业大学 | Scheme for photographing and measuring forest permanent sample plot |
| CN108106590A (en) * | 2017-12-18 | 2018-06-01 | 谭焕鹏 | A kind of method of sample trees angle and distance in a kind of examination using the datum mark measuring and calculating forest reserves |
| CN113654536A (en) * | 2021-08-27 | 2021-11-16 | 广东省林业调查规划院 | Beidou RTK-based national forest and grass monitoring method, device, equipment and medium |
-
2023
- 2023-03-13 CN CN202310235342.0A patent/CN115979228B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621523A (en) * | 2012-04-09 | 2012-08-01 | 北京林业大学 | Method and system for calibrating borderless sample plot |
| CN104535024A (en) * | 2014-10-23 | 2015-04-22 | 北京林业大学 | Forest calculating and measuring method for observing sample plot composed of five trees |
| CN104613940A (en) * | 2015-02-05 | 2015-05-13 | 北京林业大学 | Scheme for photographing and measuring forest permanent sample plot |
| CN108106590A (en) * | 2017-12-18 | 2018-06-01 | 谭焕鹏 | A kind of method of sample trees angle and distance in a kind of examination using the datum mark measuring and calculating forest reserves |
| CN113654536A (en) * | 2021-08-27 | 2021-11-16 | 广东省林业调查规划院 | Beidou RTK-based national forest and grass monitoring method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115979228A (en) | 2023-04-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103363988B (en) | A kind of method utilizing intelligent mobile phone sensor to realize the navigation of earth magnetism indoor positioning | |
| CN106525031B (en) | A kind of combined indoor orientation method | |
| CN103402258B (en) | Wi-Fi (Wireless Fidelity)-based indoor positioning system and method | |
| CN107431995B (en) | Enabling verification of an estimated location of a mobile device | |
| CN104796866A (en) | Indoor positioning method and device | |
| CN103813448A (en) | Indoor positioning method based on RSSI | |
| CN105072682B (en) | A kind of GNSS and WIFI combined positioning methods and system | |
| CN104535064A (en) | Wi-Fi fingerprint-assisted indoor mobile terminal inertial navigation method | |
| CN102209386A (en) | Indoor wireless positioning method and device | |
| Ibrahim et al. | Real-time GPS based outdoor WiFi localization system with map display | |
| CN106646574A (en) | Indoor and outdoor ubiquitous positioning method and indoor and outdoor ubiquitous positioning system | |
| CN104540219A (en) | Wi-Fi fingerprint indoor positioning method low in complexity | |
| CN105652303B (en) | A kind of mountain area field sampling based on mobile electronic devices such as Pad does not contact localization method quickly | |
| CN103957503A (en) | Method improving robustness of WiFi fingerprint location by utilizing sensor to count steps | |
| CN107655474A (en) | A kind of air navigation aid and navigation system based on intelligent terminal | |
| CN101316439A (en) | Server device, mobile terminal and location mode selection method | |
| CN105891866A (en) | Positioning method and device and electronic equipment | |
| CN104507097A (en) | Semi-supervised training method based on WiFi (wireless fidelity) position fingerprints | |
| CN109029429A (en) | Multi-categorizer overall situation dynamic fusion localization method based on WiFi and earth magnetism fingerprint | |
| CN104471558B (en) | System and method for revisiting position detection | |
| KR20140102450A (en) | System for assuming position of base station and method for assuming position of base station thereof | |
| CN115979228B (en) | Forest sample plot boundary and sample wood position measurement method | |
| Zhuang et al. | Autonomous WLAN heading and position for smartphones | |
| CN203191541U (en) | Novel portable electronic tracking and positioning system | |
| CN206177304U (en) | Top total powerstation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |