CN116887397B - Beidou geological disaster monitoring and rescue system based on ad hoc network - Google Patents

Beidou geological disaster monitoring and rescue system based on ad hoc network Download PDF

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Publication number
CN116887397B
CN116887397B CN202310841749.8A CN202310841749A CN116887397B CN 116887397 B CN116887397 B CN 116887397B CN 202310841749 A CN202310841749 A CN 202310841749A CN 116887397 B CN116887397 B CN 116887397B
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rescue
monitoring
uwb
beidou
hoc network
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CN116887397A (en
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杨永辉
周大鹏
何廷万
刘宏罡
杨艳秋
吴意成
周庆
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Skylab M&c Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G01S19/17—Emergency applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Remote Sensing (AREA)
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  • Medical Informatics (AREA)
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  • Business, Economics & Management (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides a Beidou geological disaster monitoring and rescuing system based on an ad hoc network, which comprises the following steps: the sensing acquisition unit acquires sensing acquisition data through measurement of a monitoring area, the Beidou positioning unit acquires satellite positioning information, the acquisition gateway unit uploads the sensing acquisition data and the satellite positioning information to the cloud service unit through the base station, risk monitoring is carried out in the cloud service unit, the monitoring center unit carries out information presentation aiming at a risk monitoring result and sends a rescue notification to the rescue command center, the rescue command center carries out scheduling aiming at the temporary command center according to the rescue notification, the temporary command center assigns rescue workers to go to a geological disaster site for rescue, and rescue command is carried out aiming at the rescue workers based on ad hoc network positioning. The invention realizes the establishment of the position topology of the rescue workers by adopting the ad hoc network positioning, so that the movement of the rescue workers is known, the safety of the rescue workers is improved, and meanwhile, the rescue command is convenient, thereby improving the rescue efficiency.

Description

Beidou geological disaster monitoring and rescue system based on ad hoc network
Technical Field
The invention relates to the technical field of geological detection, in particular to a Beidou geological disaster monitoring and rescue system based on an ad hoc network.
Background
Geological disasters are formed under the action of natural or human factors, and are loss of life and property of human beings, and geological effect or geological phenomenon of damage to the environment, and the distribution change rule in time and space is limited by the natural environment and is related to human activities, and is often the result of interaction between human beings and the natural world. The main types of geological disasters include: landslide, collapse, mud-rock flow and ground collapse, landslide is a phenomenon that a rock mass on a mass slope slides downwards along a certain weak plane or a weak belt as a whole under the action of gravity for some reason; collapse refers to the geological phenomenon that a rock-soil body on a steep slope suddenly breaks away from a parent body to collapse and roll and accumulate on a slope toe under the action of gravity; debris flow is a natural phenomenon peculiar to mountain areas, and is a special flood flow with a large amount of solid matter conditions such as sediment, stones and the like formed by precipitation; ground subsidence refers to the natural phenomenon that the ground mantlerock and soil body collapse downwards under the action of natural or artificial factors and collapse pits are formed on the ground. The method is characterized in that the method is one of countries with most frequent and most serious disasters in the world, and the places, scales and frequencies of occurrence of natural geological disasters are controlled by natural geological conditions and are not transferred by the development of human histories, so that monitoring and rescue for the geological disasters are very necessary to reduce the loss caused by the occurrence of the geological disasters.
At present, in the prior art scheme, the rescue is usually based on passive positioning application, and is mostly in the condition of individual combat under special conditions, the rescue staff can not timely know the position and the state of the rescue staff and the group members of the rescue staff, and scene perception and indoor and outdoor integrated position information are not combined, so that the related rescue staff is in a more dangerous place. Therefore, the invention provides the Beidou geological disaster monitoring and rescuing system based on the ad hoc network, which realizes the establishment of the position topology of the rescue workers by adopting the ad hoc network positioning, so that the movement of the rescue workers is known in the rescuing process, the situation that the rescue workers are in dangerous situations but cannot be found is avoided, the safety of the rescue workers is improved, the rescue workers can better implement the rescuing scheme, and simultaneously, the rescuing command is convenient, so that the rescuing efficiency is improved.
Disclosure of Invention
The invention aims to provide a Beidou geological disaster monitoring and rescuing system based on an ad hoc network, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a big dipper geology disaster monitoring and rescue system based on ad hoc network, includes: the monitoring module and rescue module, the monitoring module includes: beidou positioning unit, response collection unit, collection gateway unit, cloud service unit and monitoring center unit, rescue module includes: the temporary command center and the rescue command center;
The sensing acquisition unit is used for determining a plurality of measuring points in a monitoring area, and arranging sensors in the measuring points for sensing and monitoring to obtain sensing acquisition data; the Beidou positioning unit is used for positioning the measuring points by adopting Beidou RTK positioning to obtain satellite positioning information; the acquisition gateway unit is used for uploading the induction acquisition data and the satellite positioning information to the cloud service unit through the base station in the acquisition gateway; the cloud service unit is used for receiving the induction acquisition data and the satellite positioning information uploaded by the acquisition gateway unit, and performing risk monitoring in the cloud server according to the induction acquisition data and the satellite positioning information to obtain a risk monitoring result; the monitoring center unit is used for presenting information aiming at risk monitoring results and sending rescue notification to the rescue command center when the risk monitoring results are that geological disasters occur in the monitoring area; the rescue command center is used for scheduling the temporary command center according to the rescue notification; the temporary command center is used for assigning rescue workers to go to a geological disaster site for rescue and carrying out rescue command on the rescue workers based on ad hoc network positioning.
Preferably, the sensing collection unit comprises a plurality of measuring points, structural analysis is carried out on a monitoring area, monitoring parameters are determined, the plurality of measuring points are determined on the monitoring area according to the monitoring parameters, and then sensors with different functions are arranged in the measuring points according to the monitoring parameters, so that the sensors perform sensing monitoring at the positions of the measuring points, and real-time sensing collection data are obtained.
Preferably, when the Beidou positioning unit adopts Beidou RTK positioning to position the measuring points, one of the measuring points is selected as a datum point, the datum point is used as a reference station to receive satellite signals and transmit the satellite signals to other measuring points through a wireless communication network, and receivers of other measuring points jointly calculate the received satellite signals and the received reference station signals in real time to obtain coordinate increment between the reference station and other measuring points, so that satellite positioning information of the measuring points is obtained.
Preferably, the cloud service unit performs analysis according to monitoring parameters when performing risk monitoring according to the sensing collected data and the satellite positioning information, and the monitoring parameters include: the method comprises the steps of respectively acquiring historical induction acquisition data of monitoring parameters according to monitoring parameters in induction acquisition data according to current induction acquisition data, respectively analyzing changes of the coordinates and the inclination angles according to the current induction acquisition data and the historical induction acquisition data of the monitoring parameters to obtain real-time induction change data, carrying out exception analysis and judgment on the real-time induction change data, determining whether a geological disaster occurs in a monitoring area to obtain a risk monitoring result, determining measuring points which cause exception of the real-time induction change data according to the current induction acquisition data when the risk monitoring result is the geological disaster in the monitoring area, and determining the position of the geological disaster according to satellite positioning information.
Preferably, the monitoring center unit includes: a display device and a notification device; the display device is used for presenting information aiming at risk monitoring results, and presenting the risk monitoring results and induction acquisition data in a table, wherein the induction acquisition data are respectively presented in a chart form according to measuring points, in an image of each measuring point, the induction acquisition data of the measuring points at the same time are called according to time, and are integrated and presented through summarization; the notification device is used for notifying according to the risk monitoring result, when the risk monitoring result is that the geological disaster occurs in the monitoring area, the notification device sends rescue notification to the rescue command center, and when the risk monitoring result is that the geological disaster does not occur in the monitoring area, the notification device does not need to respond.
Preferably, when the temporary command center adopts ad hoc network positioning to carry out rescue command on rescue workers, an ad hoc network system is established for the rescue workers, and rescue condition information is acquired in the ad hoc network system by adopting a UWB communication technology and is kept in contact with the rescue command center.
Preferably, the ad hoc network system adopts a 1+n mode, and includes: a vehicle-mounted remote receiving base station and a UWB tag; the UWB tag is worn on the body of a rescue worker, and position information is acquired by adopting an AI ad hoc network mode; the vehicle-mounted remote receiving base station is arranged on a rescue vehicle on a rescue site and comprises: the central node and the UWB base station are used for acquiring the position information of the UWB tag, commanding and dispatching rescue workers according to the position information of the UWB tag, and feeding back rescue condition information to the rescue command center in real time through the cloud.
Preferably, when the UWB tag acquires the position information in an AI ad hoc network mode, 3 UWB tags are found nearby for any UWB tag to construct an AI ad hoc network, UWB mutual ranging is performed for any two UWB tags in the AI ad hoc network based on a TWR two-way ranging mode to obtain UWB tag distance measurement information, and then the UWB tag distance measurement information is uploaded to a UWB base station in a broadcasting mode.
Preferably, the determining, by the UWB base station, the relative position and the absolute position of the UWB tag according to the distance measurement information of the UWB tag in combination with the positioning of the beidou satellite includes:
Performing tag AI ad hoc network analysis according to UWB tag distance measurement information, and determining association relation between tag AI ad hoc networks;
Integrating UWB labels into a label Ad hoc network according to the association relation between the label AI Ad hoc networks to obtain a label integral Ad hoc network;
the method comprises the steps that UWB tag distance measurement information is tidied based on a tag integral ad hoc network, and relative position information of the UWB tag is obtained;
Converting the relative position information of the UWB tag into absolute position information of the UWB tag by combining Beidou satellite positioning, comprising: installing a Beidou positioning module at a vehicle-mounted remote receiving base station, acquiring position data of three UWB labels relative to the vehicle-mounted remote receiving base station by adopting the Beidou positioning module, taking the UWB labels with the acquired position data as position initialization references, and combining the position initialization references with the relative position information of the UWB labels in the whole self-networking of the labels to acquire absolute position information of the UWB labels.
Preferably, the central node analyzes the position and the track of the rescue workers according to the relative position and the absolute position of the UWB tag, forms a rescue scheme according to the position of the rescue workers, and conducts command and dispatch on the rescue workers according to the rescue scheme.
According to the invention, the monitoring and rescue work is effectively linked, so that the geological disaster monitoring and rescue of the monitoring area are realized, the monitoring module is used for carrying out induction acquisition and risk analysis on the monitoring area, so that the topography and the building situation of the monitoring area can be obtained, whether the geological disaster is found in the monitoring area or not can be timely found, the rescue module can rescue the geological disaster in time, the loss caused by the geological disaster is reduced, the position topology of the rescue staff is built by adopting the ad hoc network positioning, the movement of the rescue staff is known in the rescue process, the situation that the rescue staff is in dangerous place but cannot be found is avoided, the safety of the rescue staff is improved, the rescue scheme can be better implemented by the rescue staff, and the rescue command is convenient, so that the rescue efficiency is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
Fig. 1 is a schematic diagram of a Beidou geological disaster monitoring and rescue system based on an ad hoc network;
Fig. 2 is a schematic diagram of a monitoring center unit in a monitoring module of the Beidou geological disaster monitoring and rescuing system based on the ad hoc network;
fig. 3 is a schematic diagram of rescue communication in a rescue module of the Beidou geological disaster monitoring and rescue system based on the ad hoc network;
fig. 4 is a schematic diagram of a temporary command center in a rescue module of the Beidou geological disaster monitoring and rescue system based on the ad hoc network;
Fig. 5 is a schematic diagram of partial steps of a UWB base station in the system for monitoring and rescuing Beidou geological disaster based on ad hoc network according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1:
The embodiment provides a Beidou geological disaster monitoring and rescue system based on an ad hoc network, which comprises the following steps: the monitoring module and rescue module, the monitoring module includes: beidou positioning unit, response collection unit, collection gateway unit, cloud service unit and monitoring center unit, rescue module includes: the temporary command center and the rescue command center;
The sensing acquisition unit is used for determining a plurality of measuring points in a monitoring area, and arranging sensors in the measuring points for sensing and monitoring to obtain sensing acquisition data; the Beidou positioning unit is used for positioning the measuring points by adopting Beidou RTK positioning to obtain satellite positioning information; the acquisition gateway unit is used for uploading the induction acquisition data and the satellite positioning information to the cloud service unit through the base station in the acquisition gateway; the cloud service unit is used for receiving the induction acquisition data and the satellite positioning information uploaded by the acquisition gateway unit, and performing risk monitoring in the cloud server according to the induction acquisition data and the satellite positioning information to obtain a risk monitoring result; the monitoring center unit is used for presenting information aiming at risk monitoring results and sending rescue notification to the rescue command center when the risk monitoring results are that geological disasters occur in the monitoring area; the rescue command center is used for scheduling the temporary command center according to the rescue notification; the temporary command center is used for assigning rescue workers to go to a geological disaster site for rescue and carrying out rescue command on the rescue workers based on ad hoc network positioning.
As shown in fig. 1, the foregoing technical solution provides a beidou geological disaster monitoring and rescue system based on ad hoc network, where the beidou geological disaster monitoring and rescue system is divided into two major parts including a monitoring module and a rescue module, where the monitoring module includes: beidou positioning unit, response acquisition unit, acquisition gateway unit, cloud service unit and monitoring center unit, including at the rescue module: the temporary command center and the rescue command center; the monitoring module monitors geological disasters aiming at the monitoring area to obtain risk monitoring results, and the rescue module establishes connection between the monitoring module and the rescue module in the monitoring module and the rescue module through connection between the monitoring center unit and the rescue command center.
When the Beidou geological disaster monitoring and rescuing system based on the ad hoc network is used for carrying out geological disaster monitoring and rescuing, an acquisition unit determines a plurality of measuring points aiming at a monitoring area, sensors are arranged in the measuring points, induction monitoring is carried out aiming at the monitoring area through the sensors to obtain induction acquisition data, meanwhile, a Beidou positioning unit adopts Beidou RTK positioning to position the measuring points to obtain satellite positioning information, then an acquisition gateway unit uploads the induction acquisition data obtained by the induction acquisition unit and satellite positioning information obtained by the Beidou positioning unit to a cloud service unit through a base station, risk monitoring is carried out aiming at the induction acquisition data and the satellite positioning information in the cloud service unit, whether geological disasters occur in the monitoring area is analyzed, the position of the geological disasters is determined when the geological disasters occur in the monitoring area, so that a risk monitoring result is obtained, a monitoring center module presents aiming at the risk monitoring result in a server unit, and simultaneously presents the induction acquisition data and the satellite positioning information, and sends a rescue command center when the risk monitoring result is that the geological disasters occur in the monitoring area; the rescue command center module dispatches the temporary command center according to the rescue notification of the monitoring center unit, determines rescue workers going to the geological disaster site, forms a temporary command center dispatching information instruction, assigns the rescue workers to go to the geological disaster site for rescue according to the temporary command center dispatching information instruction, and carries out rescue command on the rescue workers based on ad hoc network positioning.
According to the technical scheme, the monitoring and rescuing of the geological disasters in the monitoring area are realized, the monitoring module is used for carrying out induction acquisition and risk analysis on the monitoring area, so that the situation and the building situation of the monitoring area can be obtained, whether the geological disasters are found in the monitoring area or not can be timely found, the rescuing module is used for rescuing the geological disasters in time, loss caused by the geological disasters is reduced, rescue can be timely carried out when the geological disasters occur, personnel are prevented from being trapped by the geological disasters for a long time, and danger caused by the geological disasters to trapped personnel is reduced. Real-time monitoring of a monitoring area is realized through the induction acquisition unit, so that geological disaster analysis can be continuously carried out on the monitoring area, and further, geological disasters can be timely found and rescue can be carried out when the geological disasters occur in the monitoring area; the accurate positioning of the measuring points is realized through the Beidou positioning unit, so that the position of the geological disaster can be locked when the geological disaster occurs in the monitoring area, the position of the geological disaster can be quickly reached for rescue, and the rescue efficiency is improved; the monitoring center unit is used for presenting information aiming at the risk monitoring result, so that the condition of the monitoring area can be visually presented, and related personnel can know the condition of the monitoring area more; the rescue command center is used for timely rescuing the geological disaster in the monitored area, and the ad hoc network positioning is adopted to establish the position topology of the rescue workers, so that the directions of the rescue workers are known in the rescue process, the rescue command is convenient, and the rescue efficiency is improved.
Example 2:
Based on embodiment 1, the sensing acquisition unit includes a plurality of measuring points, carries out structural analysis to the monitoring area, determines to carry out monitoring parameters, and determines a plurality of measuring points on the monitoring area according to the monitoring parameters, then arranges the sensors with different actions into the measuring points according to the monitoring parameters, so that the sensors carry out sensing monitoring at the measuring point positions, and real-time sensing acquisition data is obtained.
The monitoring parameters in the technical scheme comprise: the method comprises the steps of arranging a laser ranging sensor into a measuring point for coordinate monitoring parameters, carrying out monitoring parameter sensing acquisition on a monitoring area, arranging an inclination sensor into the measuring point for inclination monitoring parameters, carrying out monitoring parameter sensing acquisition on the monitoring area, and arranging automatic monitoring equipment corresponding to the monitoring parameters into the measuring point by the sensing parameters if the monitoring parameters also comprise other parameters.
According to the technical scheme, the monitoring area can be remotely monitored in real time through the measuring points, and the state of the monitoring area can be known in real time, so that the health state of the monitoring area can be better monitored by a detection unit, and geological disasters can be timely found out in the monitoring area. The sensors with different functions are arranged in the measuring points according to the monitoring parameters, so that a plurality of sensors can be connected into the measuring points, induction collection can be carried out on the plurality of monitoring parameters at the same time, the compatibility of the induction collection unit is improved, the sensors arranged in the measuring points are automatic monitoring equipment, relevant workers are not required to conduct field investigation collection, the collection accuracy and efficiency are improved, meanwhile, dangerous situations generated to the relevant workers in the collection process can be avoided, safety accidents are reduced, and labor cost is reduced.
Example 3:
Based on embodiment 1, when the Beidou positioning unit adopts the Beidou RTK positioning to position the measuring points, one of the measuring points is selected as a reference point, the reference point is used as a reference station to receive satellite signals and transmit the satellite signals to other measuring points through a wireless communication network, and receivers of other measuring points jointly calculate the received satellite signals and the received reference station signals in real time to obtain coordinate increment between the reference station and other measuring points, so as to obtain satellite positioning information of the measuring points.
In the above technical solution, when the receivers of other measuring points jointly calculate the received satellite signals and the received reference station signals in real time, a carrier phase correction value is obtained according to the received reference station signals, carrier phase correction is performed on the satellite signals received by the measuring points by using the carrier phase correction value, coordinates are solved according to the corrected carrier phases, and coordinate increment between the reference station and the other measuring points is obtained, so that satellite positioning information of the measuring points is obtained.
According to the technical scheme, the Beidou RTK positioning is adopted to position the measuring points, so that centimeter-level displacement can be accurately measured, the accuracy of satellite positioning information of the measuring points is improved, one of the measuring points is selected as a reference point, and reference can be formed in the positioning process, so that the positioning efficiency is improved.
Example 4:
Based on implementation 2, the cloud service unit performs analysis according to monitoring parameters when performing risk monitoring according to the sensing acquisition data and the satellite positioning information, wherein the monitoring parameters comprise: the method comprises the steps of respectively acquiring historical induction acquisition data of monitoring parameters according to monitoring parameters in induction acquisition data according to current induction acquisition data, respectively analyzing changes of the coordinates and the inclination angles according to the current induction acquisition data and the historical induction acquisition data of the monitoring parameters to obtain real-time induction change data, carrying out exception analysis and judgment on the real-time induction change data, determining whether a geological disaster occurs in a monitoring area to obtain a risk monitoring result, determining measuring points which cause exception of the real-time induction change data according to the current induction acquisition data when the risk monitoring result is the geological disaster in the monitoring area, and determining the position of the geological disaster according to satellite positioning information.
According to the technical scheme, in the process of determining whether the geological disaster occurs in the monitored area, analysis is carried out according to the time sequence, the current induction acquisition data is compared with the induction acquisition data at the last moment, the current real-time induction change data is determined, then the real-time induction change data corresponding to the historical moment is acquired, the historical real-time induction change data is obtained, the current real-time induction change data is compared with the historical real-time induction change data, whether the current real-time induction change data exceeds a preset threshold value is analyzed, when the current real-time induction change data exceeds the preset threshold value, abnormal change occurs in the monitored area, at the moment, the geological disaster occurring in the monitored area is further analyzed and determined according to the monitoring parameters, and therefore a risk monitoring result is obtained, and the main types of the geological disaster comprise: landslide, collapse, debris flow, and ground collapse. When the current real-time induction change data does not exceed the preset threshold value, the current real-time induction change data and the historical real-time induction change data are combined to conduct change prediction, change estimated information at the next moment is obtained, reminding is conducted according to the change estimated information at the next moment, and when the change estimated information at the next moment exceeds the preset threshold value, the monitoring center unit conducts information presentation aiming at risk monitoring results, reminding is conducted according to the change estimated information at the next moment.
According to the technical scheme, the change of the coordinates and the inclination angle is respectively analyzed through combining the current induction acquisition data with the historical induction acquisition data of the monitoring parameters, so that the structural change of the monitoring area is clear, whether the geological disaster occurs in the monitoring area or not is further determined according to the structural change, the geological disaster can be found in the first time when the geological disaster occurs in the monitoring area, rescue is timely carried out on the geological disaster, loss caused by the geological disaster is reduced, and danger of trapped personnel due to the geological disaster is reduced. The condition of the sensing data of the monitoring area from monitoring can be known through the real-time sensing change data corresponding to the historical moment, so that the tiny change of the structure of the monitoring area can be found, the situation that the monitoring area is less affected by the change of the sensing acquisition data at the adjacent moment in the long-time monitoring process is avoided, the accuracy of risk monitoring is improved, the current real-time sensing change data and the historical real-time sensing change data are combined to conduct change prediction, the geological disaster is about to occur in the monitoring area or is presented in the monitoring center unit before the geological disaster comes, the vigilance of personnel related to the monitoring center is improved, and accordingly rescue is better conducted when the geological disaster occurs, and rescue actions are timely executed.
Example 5:
based on embodiment 1, as shown in fig. 2, the monitoring center unit includes: a display device and a notification device; the display device is used for presenting information aiming at risk monitoring results, and presenting the risk monitoring results and induction acquisition data in a table, wherein the induction acquisition data are respectively presented in a chart form according to measuring points, in an image of each measuring point, the induction acquisition data of the measuring points at the same time are called according to time, and are integrated and presented through summarization; the notification device is used for notifying according to the risk monitoring result, when the risk monitoring result is that the geological disaster occurs in the monitoring area, the notification device sends rescue notification to the rescue command center, and when the risk monitoring result is that the geological disaster does not occur in the monitoring area, the notification device does not need to respond.
According to the technical scheme, the cloud service unit remotely transmits the risk monitoring result to the monitoring center unit through the 3G/4G communication network, the monitoring center unit can display the sensing acquisition data in the form of a chart according to each measuring point when information presentation is carried out on the risk monitoring result, and the sensing acquisition data in the same time can be adjusted according to time in the charts of all the measuring points to be integrated together for displaying the whole information chart of the monitoring area.
According to the technical scheme, the induction acquisition data are more intuitively presented through the chart form, and the state of the measuring points can be clearly presented through presenting the induction acquisition data in the chart form aiming at each measuring point, so that the change and the change trend of the measuring points can be more clearly known, the data in the chart can be called out according to the requirement by the monitoring center unit to be combined and presented, the flexibility of presentation is improved, meanwhile, various requirements of related personnel on the presentation data can be met, and the analysis and the viewing of the data in different aspects can be conveniently carried out by the related personnel.
Example 6:
Based on embodiment 1, when the temporary command center adopts ad hoc network positioning to conduct rescue command for rescue workers, an ad hoc network system is established for the rescue workers, as shown in fig. 3, rescue condition information is obtained in the ad hoc network system by adopting a UWB communication technology, and the ad hoc network system is kept in contact with the rescue command center.
When the technical scheme is in contact with the rescue command center, the contact between the temporary command center and the rescue command center is realized through mobile communication or Beidou satellite communication, the rescue condition of the temporary command center is reported to the rescue command center in real time, and meanwhile, the rescue command center can command the temporary command center at any time.
When the UWB (ultra wide band) communication technology is adopted in the ad hoc network system to acquire rescue condition information, a special wireless technology is adopted for returning.
According to the technical scheme, the temporary command center and the rescue command center are connected through the mobile communication or the Beidou satellite communication, so that the mobile communication can be connected through the Beidou satellite communication when being damaged, the disconnection condition caused by severe conditions is avoided, the rescue command center can master the condition of the temporary command center in real time, the security risk of rescue workers is ensured, and meanwhile, the rescue can be timely carried out aiming at the temporary command center. The ad hoc network system is established aiming at rescue personnel, so that a temporary command center can master the situation of each rescue personnel in real time, the loss of the rescue personnel is avoided, meanwhile, when the ad hoc network system adopts a UWB (ultra wide band) communication technology to acquire rescue condition information, the transmission of the information can be ensured by adopting a special wireless technology for returning, the problem that the rescue site condition adversely affects the transmission of signals is solved, the communication intensity is improved, and the effective operation of the ad hoc network system is ensured.
Example 7:
Based on embodiment 6, the ad hoc network system adopts a 1+n manner, as shown in fig. 4, including: a vehicle-mounted remote receiving base station and a UWB tag; the UWB tag is worn on the body of a rescue worker, and position information is acquired by adopting an AI ad hoc network mode; the vehicle-mounted remote receiving base station is arranged on a rescue vehicle on a rescue site and comprises: the central node and the UWB base station are used for acquiring the position information of the UWB tag, commanding and dispatching rescue workers according to the position information of the UWB tag, and feeding back rescue condition information to the rescue command center in real time through the cloud.
The 1+N mode adopted by the self-networking system of the technical scheme is a vehicle-mounted remote receiving base station and a plurality of UWB tags.
The central node conducts command and dispatch on rescue workers according to the position information of the UWB tag, the UWB base station determines the position information of the UWB tag based on the UWB tag, so that the position of the rescue workers is determined, and meanwhile, the UWB base station feeds back rescue condition information to the rescue command center in real time through the cloud through mobile communication or Beidou satellite communication.
The UWB base station may also be a bluetooth gateway.
According to the technical scheme, the UWB tag is worn on the body of the rescue personnel, so that the UWB tag is prevented from falling off in the rescue process, and the UWB tag can be prevented from affecting the action of the rescue personnel. The vehicle-mounted remote receiving base station is arranged on a rescue vehicle on a rescue site, so that rescue can be carried out nearby the geological disaster site, command and scheduling are convenient, delay of signal communication can be reduced, and data transmission on the rescue site can be timely realized.
Example 8:
Based on embodiment 7, when the UWB tag acquires the position information in an AI ad hoc network manner, 3 UWB tags are found nearby for any UWB tag to construct a tag AI ad hoc network, UWB mutual ranging is performed for any two UWB tags in the tag AI ad hoc network based on a TWR two-way ranging manner, UWB tag distance measurement information is obtained, and then the UWB tag distance measurement information is uploaded to the UWB base station in a broadcast manner.
In the above technical scheme, any UWB tag can be used as a target UWB tag to acquire position information in an AI ad hoc network mode, and when the UWB tag acquires the position information in the AI ad hoc network mode, the position information can be acquired in the AI ad hoc network mode for each UWB tag.
According to the technical scheme, relative position analysis is achieved for the UWB tags by adopting the AI ad hoc network mode, the distance between the target UWB tag and any two UWB tags in the three surrounding UWB tags is analyzed and determined by means of the TWR two-way ranging mode, and therefore the relative position between rescue workers is clear, and rescue workers can timely command nearby rescue workers to schedule timely to assist when the rescue workers need to assist a companion. The UWB tag distance measurement information is uploaded to the UWB base station in a broadcasting mode, so that the position of a rescue worker can be mastered in the UWB base station in time, rescue scheme adjustment can be conveniently carried out at any time, and rescue efficiency is improved.
Example 9:
Based on embodiment 8, the UWB base station determines the relative position and the absolute position of the UWB tag according to the distance measurement information of the UWB tag in combination with the positioning of the beidou satellite, as shown in fig. 5, and includes:
S1, carrying out tag AI (automatic identification) ad hoc network analysis according to UWB (ultra wide band) tag distance measurement information, and determining association relations among the tag AI ad hoc networks;
S2, integrating UWB labels into a label Ad hoc network according to the association relation between the label AI Ad hoc networks to obtain a label integral Ad hoc network;
s3, sorting the UWB tag distance measurement information based on the tag integral ad hoc network to obtain the relative position information of the UWB tag;
S4, converting the relative position information of the UWB tag into absolute position information of the UWB tag by combining Beidou satellite positioning, wherein the method comprises the following steps: installing a Beidou positioning module at a vehicle-mounted remote receiving base station, acquiring position data of three UWB labels relative to the vehicle-mounted remote receiving base station by adopting the Beidou positioning module, taking the UWB labels with the acquired position data as position initialization references, and combining the position initialization references with the relative position information of the UWB labels in the whole self-networking of the labels to acquire absolute position information of the UWB labels.
In the above technical scheme, when the tag AI self-organizing network analysis is performed according to the UWB tag distance measurement information, the UWB tag involved in the tag AI self-organizing network is determined according to the UWB tag distance measurement information, the tag AI self-organizing network involved tags are obtained, the tag AI self-organizing network involved tags corresponding to each tag AI self-organizing network are analyzed, the public tags among the tag AI self-organizing networks are determined, and the relationship among the tag AI self-organizing networks is established by combining the public tags.
When UWB labels are integrated into one label ad hoc network according to the association relation between the label AI ad hoc networks, the label AI ad hoc networks are combined based on the public labels, one label is reserved for the public labels, and the label AI ad hoc networks are spliced and integrated into one label ad hoc network, so that the label overall ad hoc network can be obtained.
According to the technical scheme, relative position and absolute position conversion of the UWB labels are achieved, the label AI ad hoc networks are integrated with the whole tag ad hoc network, so that distance measurement information of the UWB labels is unified, relative position information of the UWB labels aiming at the same reference standard is obtained, commonalities among the label AI ad hoc networks can be determined by analyzing the public labels, association conditions among the label AI ad hoc networks are clear, and therefore a plurality of label AI ad hoc networks can be combined together. The relative position information of the UWB tag is combined with Beidou satellite positioning and converted into absolute position information of the UWB tag, and the position of the UWB tag relative to the vehicle-mounted remote receiving base station can be determined according to the relative position information of the UWB tag, so that the vehicle-mounted remote receiving base station can determine the position of the UWB tag relative to the vehicle-mounted remote receiving base station, and master the position of rescue workers.
Example 10:
Based on embodiment 9, the central node analyzes the position and track of the rescue workers according to the relative position and the absolute position of the UWB tag, forms a rescue scheme according to the position of the rescue workers, and conducts commanding and dispatching on the rescue workers according to the rescue scheme.
In the above technical solution, the relative position and the absolute position of the UWB tag are changed in real time.
In the central node, edge calculation is realized by analyzing the relative position and the absolute position of the UWB tag, the position of the rescue personnel is determined, and meanwhile, the track of the rescue personnel can be determined according to the relative position and the absolute position of the UWB tag.
The rescue personnel can also adjust based on the existing rescue scheme according to the relative position and the absolute position of the UWB tag in the rescue scheme executing process, so that command and dispatch are conducted on the rescue personnel according to the adjustment condition.
According to the technical scheme, the central node can conduct command and dispatch according to the relative position and the absolute position of the UWB tag, so that the execution efficiency of a rescue scheme is improved, maximized rescue can be conducted in a shorter time aiming at geological disasters, loss caused by the geological disasters is reduced, and a proper rescue scheme can be formulated along with real-time change of the relative position and the absolute position of the UWB tag, so that adjustment and command and dispatch can be conducted in time aiming at the rescue scheme according to actual conditions.
It will be appreciated by those skilled in the art that the first and second aspects of the present invention refer only to different phases of application.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (9)

1. Beidou geological disaster monitoring and rescue system based on ad hoc network, and is characterized by comprising: the monitoring module and rescue module, the monitoring module includes: beidou positioning unit, response collection unit, collection gateway unit, cloud service unit and monitoring center unit, rescue module includes: the temporary command center and the rescue command center;
The sensing acquisition unit is used for determining a plurality of measuring points in a monitoring area, and arranging sensors in the measuring points for sensing and monitoring to obtain sensing acquisition data; the Beidou positioning unit is used for positioning the measuring points by adopting Beidou RTK positioning to obtain satellite positioning information, when the Beidou positioning unit adopts Beidou RTK positioning to position the measuring points, one of the measuring points is selected to serve as a reference point, the reference point serves as a reference station to receive satellite signals and transmit the satellite signals to other measuring points through a wireless communication network, receivers of other measuring points perform real-time joint calculation on the received satellite signals and the received reference station signals to obtain coordinate increment between the reference station and other measuring points, satellite positioning information of the measuring points is obtained, when receivers of other measuring points perform real-time joint calculation on the received satellite signals and the received reference station signals, carrier phase correction is performed on the satellite signals received by the measuring points according to the received reference station signals, coordinates are solved according to the carrier phase after correction, and the coordinate increment between the reference station and other measuring points is obtained, and then satellite positioning information of the measuring points is obtained; the acquisition gateway unit is used for uploading the induction acquisition data and the satellite positioning information to the cloud service unit through the base station in the acquisition gateway; the cloud service unit is used for receiving the induction acquisition data and the satellite positioning information uploaded by the acquisition gateway unit, and performing risk monitoring in the cloud server according to the induction acquisition data and the satellite positioning information to obtain a risk monitoring result; the monitoring center unit is used for presenting information aiming at risk monitoring results and sending rescue notification to the rescue command center when the risk monitoring results are that geological disasters occur in the monitoring area; the rescue command center is used for scheduling the temporary command center according to the rescue notification; the temporary command center is used for assigning rescue workers to go to a geological disaster site for rescue and carrying out rescue command on the rescue workers based on ad hoc network positioning.
2. The Beidou geological disaster monitoring and rescuing system according to claim 1, wherein the sensing acquisition unit comprises a plurality of measuring points, performs structural analysis on a monitoring area, determines monitoring parameters, determines the plurality of measuring points on the monitoring area according to the monitoring parameters, and then arranges sensors with different functions into the measuring points according to the monitoring parameters, so that the sensors perform sensing monitoring at the measuring point positions to acquire real-time sensing acquisition data.
3. The Beidou geological disaster monitoring and rescuing system of claim 2, wherein the cloud service unit performs analysis according to monitoring parameters when performing risk monitoring according to sensing acquisition data and satellite positioning information, and the monitoring parameters comprise: the method comprises the steps of respectively acquiring historical induction acquisition data of monitoring parameters according to monitoring parameters in induction acquisition data according to current induction acquisition data, respectively analyzing changes of the coordinates and the inclination angles according to the current induction acquisition data and the historical induction acquisition data of the monitoring parameters to obtain real-time induction change data, carrying out exception analysis and judgment on the real-time induction change data, determining whether a geological disaster occurs in a monitoring area to obtain a risk monitoring result, determining measuring points which cause exception of the real-time induction change data according to the current induction acquisition data when the risk monitoring result is the geological disaster in the monitoring area, and determining the position of the geological disaster according to satellite positioning information.
4. The beidou geological disaster monitoring and rescue system according to claim 1, wherein said monitoring central unit comprises: a display device and a notification device; the display device is used for presenting information aiming at risk monitoring results, and presenting the risk monitoring results and induction acquisition data in a table, wherein the induction acquisition data are respectively presented in a chart form according to measuring points, in an image of each measuring point, the induction acquisition data of the measuring points at the same time are called according to time, and are integrated and presented through summarization; the notification device is used for notifying according to the risk monitoring result, when the risk monitoring result is that the geological disaster occurs in the monitoring area, the notification device sends rescue notification to the rescue command center, and when the risk monitoring result is that the geological disaster does not occur in the monitoring area, the notification device does not need to respond.
5. The Beidou geological disaster monitoring and rescuing system according to claim 1, wherein when the temporary command center adopts ad hoc network positioning to conduct rescue command for rescue workers, an ad hoc network system is established for the rescue workers, and rescue condition information is acquired in the ad hoc network system by adopting a UWB communication technology and is kept in contact with the rescue command center.
6. The beidou geological disaster monitoring and rescuing system according to claim 5, wherein the ad hoc network system adopts a mode of 1+n, and comprises: a vehicle-mounted remote receiving base station and a UWB tag; the UWB tag is worn on the body of a rescue worker, and position information is acquired by adopting an AI ad hoc network mode; the vehicle-mounted remote receiving base station is arranged on a rescue vehicle on a rescue site and comprises: the central node and the UWB base station are used for acquiring the position information of the UWB tag, commanding and dispatching rescue workers according to the position information of the UWB tag, and feeding back rescue condition information to the rescue command center in real time through the cloud.
7. The Beidou geological disaster monitoring and rescuing system according to claim 6, wherein when the UWB tags acquire position information in an AI ad hoc network mode, 3 UWB tags are searched nearby for any UWB tag to construct an AI ad hoc network, UWB mutual ranging is conducted on any two UWB tags in the AI ad hoc network based on a TWR two-way ranging mode to obtain UWB tag distance measurement information, and then the UWB tag distance measurement information is uploaded to a UWB base station in a broadcasting mode.
8. The Beidou geological disaster monitoring and rescue system of claim 7, wherein the UWB base station determines the relative and absolute positions of the UWB tags in combination with the Beidou satellite positioning based on UWB tag distance measurement information, comprising:
Performing tag AI ad hoc network analysis according to UWB tag distance measurement information, and determining association relation between tag AI ad hoc networks;
Integrating UWB labels into a label Ad hoc network according to the association relation between the label AI Ad hoc networks to obtain a label integral Ad hoc network;
the method comprises the steps that UWB tag distance measurement information is tidied based on a tag integral ad hoc network, and relative position information of the UWB tag is obtained;
Converting the relative position information of the UWB tag into absolute position information of the UWB tag by combining Beidou satellite positioning, comprising: installing a Beidou positioning module at a vehicle-mounted remote receiving base station, acquiring position data of three UWB labels relative to the vehicle-mounted remote receiving base station by adopting the Beidou positioning module, taking the UWB labels with the acquired position data as position initialization references, and combining the position initialization references with the relative position information of the UWB labels in the whole self-networking of the labels to acquire absolute position information of the UWB labels.
9. The Beidou geological disaster monitoring and rescuing system according to claim 8, wherein the central node analyzes the positions and tracks of the rescue workers according to the relative positions and absolute positions of the UWB labels, forms a rescuing scheme according to the positions of the rescue workers, and conducts commanding and dispatching on the rescue workers according to the rescuing scheme.
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