CN203745655U - Multifunctional environment monitoring unmanned aerial vehicle system - Google Patents
Multifunctional environment monitoring unmanned aerial vehicle system Download PDFInfo
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- CN203745655U CN203745655U CN201420061201.8U CN201420061201U CN203745655U CN 203745655 U CN203745655 U CN 203745655U CN 201420061201 U CN201420061201 U CN 201420061201U CN 203745655 U CN203745655 U CN 203745655U
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Abstract
The utility model discloses a multifunctional environment monitoring unmanned aerial vehicle system which comprises a Beidou/GPS satellite positioning system and a wireless sensor network. The wireless sensor network is wirelessly connected with a 3G network. The 3G network is respectively wirelessly connected with a ground station and a user. The ground station is wirelessly connected with an unmanned aerial vehicle. The Beidou/GPS satellite positioning system is connected with the unmanned aerial vehicle. The system provided by the utility model has the advantages that on the basis that an unmanned aerial vehicle releasing node is used, three-dimensional positioning is carried out on a monitoring node; the wireless sensor network is rapidly deployed in inaccessible areas; special mountain and other terrains are monitored; and a camera carried by the unmanned aerial vehicle can be used to carry out remote sensing information collection on passing areas.
Description
Technical field
The utility model belongs to environmental monitoring technology field, relates to a kind of Multifunctional environment monitoring UAS.
Background technology
Internet of Things is more existing application aspect ecological environmental protection, and the three-layer network monitoring system that design realizes based on Internet of Things, has realized Taihu Lake blue-green algae early warning platform; Mt. Huangshan Scenic Area, in scenic spot, wisdom Mount Huang " 12 " digitizing planning, should be used as concrete plan to Internet of Things in Mt. Huangshan Scenic Area specially.It is reported, Qinling Mountains ecological protection construction plan system progressively forms at present, and next step Qinling Mountains, city is done and will actively be set about building wireless sensor network system, improves the scientific level of environmental monitoring, management.Can predict in Qinling Mountains ecological protection from now on, technology of Internet of things will obtain deep application.Realize environment on-line monitoring various monitoring nodes just need to be installed on the correct position in point-line-surface source; the layout of environment monitoring sensor node mainly relies on manual type to carry out at present; the total area of national ecological functions protected location, the Qinling Mountains is about 5.11 ten thousand square kilometres; comprise Qinling Mountain Areas and innerland that Shaanxi is domestic; whole protected location area coverage is wide; with a varied topography, many regional personnel enter difficulty, can not rely on manual type to carry out node layout completely.
Unmanned plane be a kind of dynamic, can control, can carry multiple-task equipment, carry out multiple-task, and can reusable push-button aircraft, have broad application prospects.Unmanned plane has the application aspect three in environmental monitoring at present: the first, and utilize unmanned plane to carry out low-altitude remote sensing and carry out perception environmental change.In the comprehensive oceanographic observation system (IOOS) of the U.S., propose to use unmanned plane to monitor environment, the objectionable impurities etc. of seashore.In " 5.12 Wenchuan earthquake ", in mountain area with a varied topography, road and communications service are damaged, cannot obtain in the condition of a disaster situation, relevant departments utilize unmanned plane to carry optical sensor, the landforms such as landslide, avalanche that move towards that along rivers earthquake is produced change the disaster information that the checked-up lake that causes and Related Disasters carry out high resolving power, low-altitude remote sensing and obtain, for the choice of relevant departments provides foundation accurately; The second, on unmanned plane, the special sensor of direct installation is realized the perception of environment.Institute of middle KeYu image resource Research of Environmental Sciences utilizes unmanned plane to carry gas monitor apparatus and realizes the monitoring to atmospheric environment; The 3rd, utilize unmanned plane to carry out the air-drop of measuring equipment.
Unmanned plane completes after monitoring node is thrown in needs to solve Nodes Three-dimensional orientation problem, and location algorithm is divided into the location algorithm based on range finding (Range-based) and non-ranging (Range-free).Location algorithm based on range finding comprises RSSI, TOA, TDOA and AOA; Centroid method, DV-Hop, Amorphous, APIT, convex programming and MDS-MAP are current more common non-ranging localization methods.Above location algorithm mostly is based on two dimensional surface, when practical application, due to landform and environmental limits such as mountain area, forest, lakes, sensor node must be deployed in three-dimensional space, traditional two-dimensional localization obviously can not meet, therefore most important to the research of three dimensions node locating algorithm.COLA algorithm solves three-dimensional localization problem by super beaconing nodes by the trilateration of two-dimensional space, reduced computation complexity, but the hardware requirement of super beaconing nodes is high, and is difficult in actual applications dispose.
Utility model content
The purpose of this utility model is providing a kind of Multifunctional environment monitoring UAS, this system can be thrown in sensor node to appointed area, utilize unmanned plane to complete the location to sensor node as mobile anchor node simultaneously, solved the problem of carrying out sensor node layout and three-dimensional localization for complex-terrain, this system also can be carried out the collection of sensor information simultaneously.
The technical scheme that the utility model adopts is to comprise big-dipper satellite and wireless sensor network, wireless sensor network wireless connections 3G network, and 3G network is wireless connections land station and user respectively, land station's wireless connections unmanned plane, big-dipper satellite connects unmanned plane.
Feature of the present utility model is also that unmanned plane comprises use Micro-processor MCV, MCU connects respectively Big Dipper module, inertial navigation device, data radio station, delivery device, servo-drive system and locating device, the monitoring node of wireless sensor network described in locating device wireless connections, satellite positioning module wireless connections Big Dipper module, data radio station wireless connections land station, on unmanned plane, be also furnished with camera, camera is by land station described in the wireless connections of wireless video transmission equipment.Delivery device comprises fixed pin, and fixed pin does parallel in support, and support connects connecting rod, and connecting rod connects bent axle.
The beneficial effects of the utility model are, on the basis that utilizes unmanned plane input node, monitoring node is carried out to three-dimensional localization, and the rapid deployment of wireless sense network is realized in the area that is difficult to enter personnel, realizes the environmental monitoring to complex-terrain.
Brief description of the drawings
Fig. 1 is that the environment monitoring node unmanned plane of a kind of Multifunctional environment monitoring of the utility model UAS is disposed and positioning system application schematic diagram;
Fig. 2 is that environment monitoring node unmanned plane is disposed and positioning system structure block diagram;
Fig. 3 is system node delivery device schematic diagram;
Fig. 4 is four limit mensuration schematic diagram.
In figure, 1. big-dipper satellite, 2. wireless sensor network, 3.3G network, 4. land station, 5. user, 6. unmanned plane, 7. fixed pin, 8. support, 9. connecting rod, 10. bent axle.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is elaborated.
As shown in Figure 1, comprise big-dipper satellite 1 and wireless sensor network 2, wireless sensor network 2 wireless connections 3G networks 3,3G network 3 wireless connections land station 4 and user 5 respectively, land station's 4 wireless connections unmanned planes 6, big-dipper satellite 1 connects unmanned plane 6, also can adopt gps satellite system, gps satellite wireless connections unmanned plane 6, all can realize location.As shown in Figure 2, the major equipment that unmanned plane 6 carries comprises use Micro-processor MCV, MCU connects Big Dipper module, also can connect GPS module realizes satellite positioning functions, MCU and also connects inertial navigation device, data radio station, delivery device, servo-drive system and locating device, the monitoring node of locating device wireless connections wireless sensor network 2, big-dipper satellite 1 described in satellite positioning module wireless connections, data radio station wireless connections land station 4, on unmanned plane 6, be also furnished with camera, camera is by land station 4 described in the wireless connections of wireless video transmission equipment.As shown in Figure 3, delivery device comprises fixed pin 7, and fixed pin 7 does parallel in support 8, and support 8 connects connecting rod 9, and connecting rod 9 connects bent axle 10.
System is mainly made up of unmanned plane 6 and land station 4, the application of this system in whole environmental monitoring system as shown in Figure 1, unmanned plane 6 first flies to monitoring objective region by navigation, cast sensor node, then the sensor node of being disposed is positioned as anchor node using unmanned plane self, land station 4 is responsible for unmanned plane 6 to assign various tasks, trace and monitor the action situation of unmanned plane 6, obtain various informations parameter and (comprise the flying quality of unmanned plane 6, complete the positional information of the wireless sensor node behind location, real-time remote sensing images etc.).After sensor node deployment completes, can form wireless sense network 2, i.e. WSN net, accesses for user by 3G network 3, internet or telstar, thereby realizes the environmental monitoring task to institute's deployment region.
Entire system framework as shown in Figure 2, is made up of the positioning system of unmanned plane 6, land station 4, big-dipper satellite 1 and the monitoring node system of wireless sense network 2.Unmanned plane 6 platforms comprise fixed-wing unmanned plane and/or depopulated helicopter, on unmanned plane 6, carrying corresponding machinery and electronic equipment executes the task, adopt high-performance microprocessor as system MCU, the relevant information that provides Navigation of Pilotless Aircraft to need is provided for the Big Dipper/GPS module and inertial navigation device, servo-drive system completes the flight attitude control of unmanned plane, delivery device completes the input of environment monitoring node, locating device communicates the location of realizing the node of arranging with sensor node, camera collection realtime graphic passes through wireless video transmission equipment for land station.
Land station 4 can receive the vision signal that unmanned plane 6 transmits, carry out two-way communication by data radio station with unmanned plane 6 simultaneously, obtain in time relevant information and issue an order, range for wireless communication can reach several kilometers, in the time that wireless contact was lost efficacy, the two-way note message function that can also utilize the dipper system of big-dipper satellite 1 to provide completes communicating by letter of unmanned plane 6 and land station 4.Land station's 4 systems adopt VC++ to write application program, and main thread is responsible for showing man-machine interface and information, and sub-thread has been responsible for the communication of data radio station.System electronic navigation map adopts MapInfo Components Development.
Delivery device adopts the mode of electronic detacher to design, as shown in Figure 3.Fixed pin 7 does parallel in support 8, and steering wheel rotarily drives the action of bent axle slide block mechanism, completes opening and locking of fixed pin 7.Thrown in node with hoisting ring, can be by slinging after fixed pin 7 lockings, arrive and throw in behind region, control steering wheel Unscrew fixed pin 7 and complete launch process.
The three-dimensional localization of sensor node is intended adopting four limit mensurations, and its model as shown in Figure 4.The coordinate of supposing 4 anchor nodes is respectively A
a(x
a, y
a, z
a), A
b(x
b, y
b, z
b), A
c(x
c, y
c, z
c) and A
d(x
d, y
d, z
d).The coordinate of unknown node O is (x, y, z), and this unknown node is respectively d to the measuring distance of each anchor node
a, d
b, d
cand d
d, by solving the three-dimensional coordinate that can obtain unknown node.
When unmanned plane positions disposed node, fly respectively to 4 diverse locations as anchor node by path planning, the coordinate of anchor node is provided by the Big Dipper/GPS positioning system, on 4 anchor nodes, adopt asynchronous bilateral location algorithm to measure respectively and the distance of unknown node, calculate the three-dimensional coordinate of unknown node.
A kind of Multifunctional environment monitoring of the utility model UAS not only can complete the measurement of environmental parameter, aerial remote sensing in environmental monitoring, main has been the three-dimensional localization that the deployment of wireless sensing node has completed radio node simultaneously, and the layout that is difficult for the acquisition node that arrives region for personnel provides one solution fast and effectively.Realize a tractor serves several purposes.Improve the emergency response capability of environmental monitoring.
Claims (3)
1. a Multifunctional environment monitoring UAS, it is characterized in that: comprise big-dipper satellite (1) and wireless sensor network (2), wireless sensor network (2) wireless connections 3G network (3), 3G network (3) is wireless connections land station (4) and user (5) respectively, land station (4) wireless connections unmanned plane (6), big-dipper satellite (1) connects unmanned plane (6).
2. according to a kind of Multifunctional environment monitoring UAS described in claim 1, it is characterized in that: described unmanned plane (6) comprises use Micro-processor MCV, MCU connects respectively satellite positioning module, inertial navigation device, data radio station, delivery device, servo-drive system and locating device, the monitoring node of wireless sensor network described in locating device wireless connections (2), big-dipper satellite described in satellite positioning module wireless connections (1), data radio station wireless connections land station (4), unmanned plane is also furnished with camera on (6), camera is by land station (4) described in the wireless connections of wireless video transmission equipment.
3. according to a kind of Multifunctional environment monitoring UAS described in claim 1, it is characterized in that: described delivery device comprises fixed pin (7), fixed pin (7) does parallel in support (8), support (8) connects connecting rod (9), and connecting rod (9) connects bent axle (10).
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| CN201420061201.8U CN203745655U (en) | 2014-02-11 | 2014-02-11 | Multifunctional environment monitoring unmanned aerial vehicle system |
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| CN201420061201.8U CN203745655U (en) | 2014-02-11 | 2014-02-11 | Multifunctional environment monitoring unmanned aerial vehicle system |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104132729A (en) * | 2014-08-01 | 2014-11-05 | 江苏恒创软件有限公司 | Urban noise pollution monitor device and method based on unmanned plane |
| CN105890659A (en) * | 2016-04-22 | 2016-08-24 | 平玉兰 | Unmanned plane atmospheric environment emergency monitoring system |
| CN106454209A (en) * | 2015-08-06 | 2017-02-22 | 航天图景（北京）科技有限公司 | Unmanned aerial vehicle emergency quick action data link system and unmanned aerial vehicle emergency quick action monitoring method based on spatial-temporal information fusion technology |
| CN106502262A (en) * | 2015-09-08 | 2017-03-15 | 中国农业机械化科学研究院 | A kind of agricultural unmanned plane during flying platform and its control system and control method |
| CN106896145A (en) * | 2017-04-06 | 2017-06-27 | 邹霞 | Toxic and harmful unmanned plane detecting system and detection method |
| CN107238408A (en) * | 2017-05-04 | 2017-10-10 | 安徽广安电子科技有限公司 | A kind of safety monitoring system based on Beidou navigation satellite |
| CN108901038A (en) * | 2018-08-13 | 2018-11-27 | 中山大学南方学院 | Wireless sensor network restorative procedure based on unmanned plane |
| CN109151721A (en) * | 2018-10-22 | 2019-01-04 | 上海亦琰信息科技有限公司 | Node deployment localization method for ecological environment unmanned plane inspection |
| CN109413379A (en) * | 2018-08-27 | 2019-03-01 | 中国人民解放军海军工程大学 | A kind of intelligent aviation anti-terrorism monitoring method and system based on Big Dipper short message |
| CN110438934A (en) * | 2019-08-09 | 2019-11-12 | 深圳市金河建设集团有限公司 | A kind of hydraulic engineering construction method based on ecological protection technology |
| CN111307094A (en) * | 2020-02-25 | 2020-06-19 | 陈昭桦 | Slope deformation amplification device based on Beidou satellite navigation |
| CN112004206A (en) * | 2020-09-28 | 2020-11-27 | 奇点新源国际技术开发(北京)有限公司 | Large-area environmental parameter monitoring system and method based on wireless communication |
| CN112556759A (en) * | 2020-12-10 | 2021-03-26 | 苏州敏视达信息科技有限公司 | Multi-sensor wireless environment monitoring system based on unmanned aerial vehicle |
| CN112693609A (en) * | 2021-01-09 | 2021-04-23 | 重庆市农业科学院 | Multifunctional mountain agricultural remote sensing monitoring unmanned aerial vehicle |
| CN113727305A (en) * | 2021-07-16 | 2021-11-30 | 南京信息工程大学 | Multi-agent environment monitoring system capable of achieving rapid networking |
| CN115411520A (en) * | 2022-10-08 | 2022-11-29 | 中国自然资源航空物探遥感中心 | Helicopter GPS and Beidou antenna anti-interference device and method |
-
2014
- 2014-02-11 CN CN201420061201.8U patent/CN203745655U/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104132729A (en) * | 2014-08-01 | 2014-11-05 | 江苏恒创软件有限公司 | Urban noise pollution monitor device and method based on unmanned plane |
| CN106454209A (en) * | 2015-08-06 | 2017-02-22 | 航天图景（北京）科技有限公司 | Unmanned aerial vehicle emergency quick action data link system and unmanned aerial vehicle emergency quick action monitoring method based on spatial-temporal information fusion technology |
| CN106454209B (en) * | 2015-08-06 | 2019-08-06 | 航天图景（北京）科技有限公司 | The fast anti-data link system of unmanned plane emergency and method based on TEMPORAL-SPATIAL INFORMATION FUSION |
| CN106502262A (en) * | 2015-09-08 | 2017-03-15 | 中国农业机械化科学研究院 | A kind of agricultural unmanned plane during flying platform and its control system and control method |
| CN105890659A (en) * | 2016-04-22 | 2016-08-24 | 平玉兰 | Unmanned plane atmospheric environment emergency monitoring system |
| CN106896145A (en) * | 2017-04-06 | 2017-06-27 | 邹霞 | Toxic and harmful unmanned plane detecting system and detection method |
| CN107238408A (en) * | 2017-05-04 | 2017-10-10 | 安徽广安电子科技有限公司 | A kind of safety monitoring system based on Beidou navigation satellite |
| CN108901038B (en) * | 2018-08-13 | 2021-03-19 | 中山大学南方学院 | Wireless sensor network repairing method based on unmanned aerial vehicle |
| CN108901038A (en) * | 2018-08-13 | 2018-11-27 | 中山大学南方学院 | Wireless sensor network restorative procedure based on unmanned plane |
| CN109413379A (en) * | 2018-08-27 | 2019-03-01 | 中国人民解放军海军工程大学 | A kind of intelligent aviation anti-terrorism monitoring method and system based on Big Dipper short message |
| CN109413379B (en) * | 2018-08-27 | 2021-09-03 | 中国人民解放军海军工程大学 | Intelligent aviation anti-terrorist monitoring method and system based on Beidou short message |
| CN109151721A (en) * | 2018-10-22 | 2019-01-04 | 上海亦琰信息科技有限公司 | Node deployment localization method for ecological environment unmanned plane inspection |
| CN110438934A (en) * | 2019-08-09 | 2019-11-12 | 深圳市金河建设集团有限公司 | A kind of hydraulic engineering construction method based on ecological protection technology |
| CN111307094B (en) * | 2020-02-25 | 2021-06-08 | 高燕妮 | Slope deformation amplification device based on Beidou satellite navigation |
| CN111307094B8 (en) * | 2020-02-25 | 2021-06-25 | 高燕妮 | Slope deformation amplification device based on Beidou satellite navigation |
| CN111307094A (en) * | 2020-02-25 | 2020-06-19 | 陈昭桦 | Slope deformation amplification device based on Beidou satellite navigation |
| CN112004206A (en) * | 2020-09-28 | 2020-11-27 | 奇点新源国际技术开发(北京)有限公司 | Large-area environmental parameter monitoring system and method based on wireless communication |
| CN112556759A (en) * | 2020-12-10 | 2021-03-26 | 苏州敏视达信息科技有限公司 | Multi-sensor wireless environment monitoring system based on unmanned aerial vehicle |
| CN112693609A (en) * | 2021-01-09 | 2021-04-23 | 重庆市农业科学院 | Multifunctional mountain agricultural remote sensing monitoring unmanned aerial vehicle |
| CN113727305A (en) * | 2021-07-16 | 2021-11-30 | 南京信息工程大学 | Multi-agent environment monitoring system capable of achieving rapid networking |
| CN115411520A (en) * | 2022-10-08 | 2022-11-29 | 中国自然资源航空物探遥感中心 | Helicopter GPS and Beidou antenna anti-interference device and method |
| CN115411520B (en) * | 2022-10-08 | 2023-12-01 | 中国自然资源航空物探遥感中心 | Helicopter GPS and Beidou antenna anti-interference device and method |
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