CN102221684B - Wireless direction finding positioning search and rescue apparatus and search and rescue method - Google Patents
Wireless direction finding positioning search and rescue apparatus and search and rescue method Download PDFInfo
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- CN102221684B CN102221684B CN 201110066079 CN201110066079A CN102221684B CN 102221684 B CN102221684 B CN 102221684B CN 201110066079 CN201110066079 CN 201110066079 CN 201110066079 A CN201110066079 A CN 201110066079A CN 102221684 B CN102221684 B CN 102221684B
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Abstract
The invention discloses a wireless direction finding positioning search and rescue apparatus and a search and rescue method. The apparatus comprises a homing host and a beacon sub-machine which include a communication protocol. The homing host comprises a control host, a man-machine interface connected to the control host, a homing signal processing circuit connected to the control host, and a homing emission circuit and a homing receiving circuit which are connected to the homing signal processing circuit. The homing emission circuit is connected with a directional aerial. The beacon sub-machine comprises a beacon signal processing circuit, a beacon receiving circuit connected to the beacon signal processing circuit, a beacon emission circuit connected to the beacon signal processing circuit and an antenna connected to the beacon signal processing circuit. The communication protocol is software which coordinates the mutual work between the homing host and the beacon sub-machine. The homing host and the beacon sub-machine wirelessly contact according to the communication protocol. According to the apparatus, the homing host is utilized to carry out a scanning detection towards all the beacon sub-machines. Wireless direction finding and positioning operations are carried out towards the specific beacon sub-machine observed so as to implement a fast and accurate rescue for missing personnel to reduce casualties. Besides, the apparatus has a simple structure, can work independently and can accept a direct current supply.
Description
Technical field
The present invention relates to a kind of personnel's rescue method and equipment, particularly wireless direction-finding positioning saving device for downhole and rescue method.
Background technology
China is with a vast territory, geographical, meteorological condition is complicated, disaster happens occasionally, vast field worker comprises geology, the mine, geographical mapping, the earth mapping, the personnel's such as engineering design work, belong to the field operation of going through dangers, in addition, development and progress along with national economy and society, China field on foot, drive to wait tourist activity to become the national universal popular activity of day-to-day, in case occur unexpected, particularly lose consciousness because of accident, can not the transmission of information situation, beyond one's ability or the earthquake of order with a varied topography is blocked by barrier, just be difficult to sue and labour, traditional rescue method is except the eyesight search, the technology such as useful police dog and pyroscan search also, this also can not meet the needs of suing and labouring of complex conditions far away.At present, be the wireless search location that trends towards adopting the GPS station-keeping mode or carry out personnel by the ultralow frequency electric field that human body is sent for the research and development focus of searching and rescuing the purpose electronic system both at home and abroad.Although there is its advantage in such system, following problem is arranged when consisting of concrete application system:
1, system is often too complicated, and cost is high, is difficult for universal;
2, will rely on other communication system of ground and just can reach systemic-function, system survivability is poor;
3, generally be difficult to accomplish the formula of replying search to concrete object, use limited.
Summary of the invention
The objective of the invention is for the deficiencies in the prior art, and provide a kind of wireless direction-finding to locate rescue method and device, these apparatus and method can be lost consciousness because of accident to those, physical features is complicated, order is beyond one's ability or blocked by barrier, missing crew in the abominable situation such as dark can determine concrete orientation, implements rescue fast and accurately.
For achieving the above object, the present invention adopts following technical scheme to realize:
A kind of wireless direction-finding positioning saving device for downhole, comprise the target-seeking main frame and the beacon handset that include communication protocol, target-seeking main frame comprises main control system and the man-machine interface that is connected with main control system, target-seeking signal processing circuit and the target-seeking radiating circuit that is connected with target-seeking signal processing circuit and target-seeking receiving circuit, and target-seeking radiating circuit is connected with directional antenna; The beacon handset comprises beacon signal treatment circuit and the beacon receiving circuit, beacon emissions circuit and the antenna that are connected with the beacon signal treatment circuit; Communication protocol is a software, coordinates the inter-working of target-seeking main frame and beacon handset, and target-seeking main frame and beacon handset are by the wireless contact of communication protocol.
Establish two MCU in main control system in described target-seeking main frame, two MCU complete respectively the input and output control of man-machine interface and the processing of baseband digital signal encoding and decoding, and a MCU is connected with man-machine interface, and another MCU is connected with target-seeking signal processing circuit.
Target-seeking main frame is wireless, and directed localization method is: the wireless direction-finding of target-seeking main frame, Position Design adopt the collaborative realization of soft and hardware, complete directed positioning function in conjunction with ASK wireless transmit receiver module circuit simultaneously.The directed Position Design technology of using is based on a branch of radio direction finding (RDF) technology.But this circuit automatic searching can be launched the small-sized signal source of radiowave.Its groundwork principle is to rely on the movement of target-seeking main frame and directed positioning antenna position to judge the size of the feedback signal intensity of beacon handset, thereby reaches the purpose of identification beacon handset position.The directed positioning antenna type of using in this system is the Yagi spark gap directional antenna.
The effect of target-seeking main frame is:
Target-seeking main frame is used by the supvr, when needs are carried out search-and-rescue work, search and rescue person carries target-seeking main frame and goes to and search and rescue the region, send the search and rescue instruction and go to wake up possible beacon handset, the receiver of target-seeking main frame receives answer signal simultaneously, determine having or not and number of the missing, and then can be converted into direction finding location mode of operation further to determine the missing's orientation according to the answer signal that searches;
Send signaling (inquiry signaling or direction finding location signaling) according to communication protocol;
Receive the answer signal of beacon handset, and understand, differentiate, add up;
Direction finding, location (utilizing directional antenna);
Show data.
The effect of described beacon handset is:
The beacon handset is carried by the individual, and each oneself has unique beacon symbol, in order to show carrier's personally identifiable information; Be at ordinary times silent status, only receive main frame wake instruction up the time just start to work, beam back and answer accordingly band signal for identification; Possess unique electronic mark, can treat as carrier's identity sign; Have intelligent awakening function, dormancy at ordinary times can be revived and send answer signal under the main frame signaling drives; The answer signal pattern of being interrupted (being used for answering target-seeking host query, relatively power saving); Graded response pattern (being used for target-seeking main frame to direction finding, the location of this Radio Beacon).
Frame structure in described communication protocol is made of frame head, address bit, command bits, check bit, postamble, a complete frame is made of 32 bit data, frame head shows the communication beginning by specific one group of data, address bit shows unique target beacon handset, command bits specifies institute to carry out search pattern, perhaps corresponding feedback information, check bit and postamble have guaranteed accuracy and the validity of frame when transmitting.
The effect of communication protocol is:
Coordinate the inter-working of main frame and beacon handset;
Definition information coding standard.
The method that wireless direction-finding of the present invention is searched and rescued is: used by the target-seeking main frame that includes communication protocol more than and beacon handset construction system, when being gone out by the individual, the beacon handset carries, when the individual is out of touch, use target-seeking main frame search the missing by search and rescue person, target-seeking main frame sends search signal, activates the beacon handset that the missing carries, and automatically produces answer signal, target-seeking main frame receives identification, thereby obtains the missing's information, number, identity, scope etc.The mode of operation of this device has:
1, query search pattern:
Target-seeking main frame sends query statement, anyly can receive that the beacon handset of this signaling will revive automatically, according to the system communication agreement, beam back successively the id signal of oneself to main frame, target-seeking main frame receives each handset signal, after demodulation, interpretation, statistics, Search Results is presented on LCD display;
2, direction finding, fixed-position searching pattern:
Under this pattern, target-seeking main frame will send requirement to certain selected beacon handset, and the beacon handset is with the continuous answer signal of beaming back, and main frame utilizes directional antenna to implement direction finding and location by reception and detection to this signal.
This device possesses own wireless transceiver system and complete communication protocol, and what can establish one's own system works alone, and does not need other any communication facilities, can direct current supply, and do not need special electric power setting can work yet.
Advantage of the present invention is:
1, in the application of reality, can first utilize target-seeking main frame to scan detection to whole beacon handsets, have or not the missing crew to be determined in tested zone; And then the specific beacon handset of examining is carried out wireless direction-finding, positioning action, native system can be lost consciousness because of accident to those, the complexity of mixing, order is beyond one's ability or blocked by barrier, missing crew in the abominable situation such as dark, can determine concrete orientation, implement rescue fast and accurately, reduce injures and deaths;
2, realize that the apparatus structure of wireless direction-finding location rescue method is simple, possess own wireless transceiver system and complete communication protocol, what can establish one's own system works alone, without any need for other communication facilities; Can direct current supply, do not need special electric power facility also can work, so this device is very good to the applicability of various abominable occasions.
Description of drawings
Fig. 1 is radio direction finding search and rescue device block diagram of the present invention;
Fig. 2 is target-seeking host circuit structured flowchart;
Fig. 3 is beacon handset circuit structure block diagram;
Fig. 4 is target-seeking mainframe program FB(flow block);
Fig. 5 is beacon handset program flow chart.
Embodiment
As shown in Figure 1, wireless direction-finding positioning saving device for downhole of the present invention, comprise the target-seeking main frame 1 and beacon handset 2 and antenna a3 and the antenna b4 that include communication protocol, target-seeking main frame 1 comprises main control system 1-1 and the man-machine interface 1-2 that is connected with main control system 1-1, target-seeking signal processing circuit 1-3 and the target-seeking transmitter module 1-4 that is connected with target-seeking signal processing circuit 1-3 and target-seeking receiver module 1-5, and target-seeking transmitter module 1-4 is connected with antenna a3; Beacon handset 2 comprises beacon signal treatment circuit 2-1 and beacon receiver module 2-2, the beacon emissions module 2-3 and the antenna b4 that are connected with beacon signal treatment circuit 2-1; Communication protocol is a software, coordinates the inter-working of target-seeking main frame 1 and beacon handset 2, and target-seeking main frame 1 is pressed the wireless contact of communication protocol with beacon handset 2.
as shown in Figure 2, establish master control and controlled two MCU in main control system 1-1 in described target-seeking main frame 1, two MCU complete respectively the input of man-machine interface 1-2, the processing of output control and baseband digital signal encoding and decoding, main control MCU is controlled respectively liquid crystal panel 1-2-1 and keyboard 1-2-2 input circuit, thereby complete the function at control 10 and interface, main control MCU is controlled the send and receive that controlled MCU completes instruction simultaneously, controlled MCU and 315M receiver module 1-5 and Yagi spark gap directional antenna 3-2 complete the reception work of information, the also orientation location work of completion system together with signal strength indicating circuit 1-5-1 of 315M receiver module 1-5.Controlled MCU also controls 323M transmitter module 1-4 and whiplike omnidirectional antenna 3-1 for the function of completing transmission information, and signal processing circuit 1-3 is connected with 323M transmitter module 1-4 with main control system 1-1,315M receiver module 1-5 respectively.
Signal emission module 1-4 in target-seeking main frame 1 uses monolithic MICRF102, completes the ASK modulated process to base-band digital information.For the signal that guarantees emission has enough penetration powers, the signal that modulates also needs to process through radio-frequency power amplifier, receives and also is provided with rf power amplifier circuit, and directional antenna is connected with target-seeking transmitter module 1-4 by rf power amplifier circuit.
Described directed positioning antenna is the Yagi spark gap directional antenna.
What the directed location of target-seeking main frame receiving circuit used is 315M superregeneration module.This module carries out also needing the signal that receives is sent into the function that amplitude detection circuit is completed direction finding, location the generation of ASK demodulation process except completing the signal that will receive.
As shown in Figure 3, the signal processing circuit 2-1 of beacon handset 2 is connected with transmitter module 2-3 with receiver module 2-2 respectively, completes the data-signal that is directed to target-seeking main frame 1 and the reception work of control information by controlling 323M receiver module 2-2 and small-sized upright antenna 4-2.Beacon handset 2 can postback reply message to target-seeking main frame 1 by 313M transmitter module 2-3 and common pull bar omnidirectional antenna 4-1 simultaneously, and completes the directed positioning function of beacon handset 2.
Described beacon handset is used monolithic Atmega16L single-chip microcomputer to complete as core processor that base-band information is processed and to the power supply control work of receiving circuit and radiating circuit, is completed the design object that handset realizes low-power consumption.In the beacon handset, the 323MHz receiving circuit adopts the small-sized monolithic wireless communication receiver of the MICRF008 integrated circuit of Mierel company to complete as core component the radiofrequency signal that receives is processed.315MHz radiating circuit in the beacon handset adopts discrete component to build, and adds simultaneously power control circuit, to satisfy handset to power consumption and portable requirement.
As shown in Figure 4, the program circuit of target-seeking main frame is:
Step S401, flow process begins;
Step S402, target-seeking main frame is initialization MCU as requested, Man Machine Interface and corresponding transmitter module, receiver module;
Step S403, the main control system in target-seeking main frame is delivered to the data of Man Machine Interface input in signal processing circuit after treatment, and the synchronous signal treatment circuit is changed the information that receives, process according to own communication protocol;
Step S404 is if signal processing circuit differentiates whether the information that receives is directed station-keeping mode;
Step S405, if information is directed station-keeping mode, signal processing circuit will be changed good information and send to transmitter module;
Step S406, signal processing circuit is opened receiver module, prepares receive data;
Step S407 if receiver module receives information, sends after treatment reception information back to main control system.Otherwise enter step S405, prepare to resend information;
Step S404 is if signal processing circuit differentiates whether the information that receives is the full scan pattern;
Step S405 ', if information is the full scan pattern, signal processing circuit will be changed good information and send to transmitter module;
Step S406 ', signal processing circuit is opened receiver module, prepares receive data;
Step S407 ', receiver module will receive information and send after treatment main control system back to.
As shown in Figure 5, the program circuit of beacon handset is:
Step S501, flow process begins;
Step S502, the beacon handset there is not certain interval of time to open receiver module, inquires about and wait for the reception order of target-seeking main frame;
Step S503, if the order that receives is the order of main frame full scan, the beacon handset prepares to enter the full scan tupe.
Step S504 reads the user code of beacon handset itself.
Step S505, continual transmission is with the full scan pattern response message of the address information of beacon handset own, and this information continues 3 seconds.Return to step S502 after finishing dealing with;
Step S503 ', if the order that receives is main frame orientation positioning command, the beacon handset prepares to enter directed station-keeping mode.
Step S504 ' reads the user code of beacon handset itself.If the beacon handset address code in the information that receives is identical with the user code of the beacon handset that reads itself, if two address codes are not identical, return to step S502;
Step S505 ', the beacon handset is with the directed station-keeping mode response message of continual transmission with the address information of beacon handset own, and this information continues 90 seconds; Return to step S502 after finishing dealing with;
Step S503 ", if the order that receives for not being full scan order and directed positioning command, shows that the information that receives is other co-channel interference information.Return and return net step S502;
Frame structure in communication protocol is made of frame head, address bit, command bits, check bit, postamble, a complete frame is made of 32 bit data, frame head shows the communication beginning by specific one group of data, address bit shows unique target beacon handset, command bits specifies institute to carry out search pattern, perhaps corresponding feedback information, check bit and postamble have guaranteed accuracy and the validity of frame when transmitting.
This search and rescue device after tested, performance index are:
1, omnidirectional's inquiry radius
Open region: 〉=150m;
Exist under veil or coverage condition: 10m～50m;
2 direction finding angular domain≤15 °
3, zone location function
Device can provide initial location, and positioning principle is to utilize two main frames, in a distance, simultaneously the Radio Beacon of replying is carried out direction finding, and the intersection point of two direction lines is the location point of mensuration.Because there is certain error angular domain in direction finding, thus the position of measuring corresponding be also the zone of a summary.
4, radio band: 300MHz～400MHz
5, emissive power: 500mW
6, canonical system capacity: 1024 (individual beacon handset) { can expand };
7, beacon handset stand-by time: 48h～120h (according to adopting battery capacity)
Claims (2)
1. wireless direction-finding positioning saving device for downhole, comprise target-seeking main frame and beacon handset, it is characterized in that: target-seeking main frame comprises main control system and the man-machine interface that is connected with main control system, target-seeking signal processing circuit and the target-seeking radiating circuit that is connected with target-seeking signal processing circuit and target-seeking receiving circuit, and target-seeking radiating circuit is connected with directional antenna; The beacon handset comprise beacon signal treatment circuit and the beacon receiving circuit that is connected with the beacon signal treatment circuit,
Beacon emissions circuit and antenna;Communication protocol is a software, coordinates the inter-working of target-seeking main frame and beacon handset, and target-seeking main frame and beacon handset are by the wireless contact of communication protocol;
Establish two MCU in main control system in described target-seeking main frame, two MCU complete respectively the input and output control of man-machine interface and the processing of baseband digital signal encoding and decoding, and a MCU is connected with man-machine interface, and another MCU is connected with target-seeking signal processing circuit;
Described target-seeking signal transmission circuit is monolithic MICRF102, completes the ASK modulated process to base-band digital information; Target-seeking receiving circuit is 315M superregeneration module, and this module carries out also needing the signal that receives is sent into the function that amplitude detection circuit is completed direction finding, location the generation of ASK demodulation process except completing the signal that will receive;
The signal processing circuit of described beacon handset adopts monolithic Atmega16L, and single-chip microcomputer is as core processor, and the base-band information of completing in the beacon handset is processed and the power supply of beacon receiving circuit and beacon emissions circuit is controlled.
2. device according to claim 1, it is characterized in that: be provided with rf power amplifier circuit, directional antenna is connected with target-seeking transmitter module by rf power amplifier circuit.
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| US20140159958A1 (en) * | 2012-12-07 | 2014-06-12 | Futurewei Technologies, Inc. | Beam Forming Antenna Array |
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| CN105188132A (en) * | 2015-08-06 | 2015-12-23 | 广州杰赛科技股份有限公司 | Sensor recycling method and sensor |
| CN105158728A (en) * | 2015-09-14 | 2015-12-16 | 镇江亿海软件有限公司 | Search and rescue apparatus and method based on wireless direction finding and positioning |
| CN105094136B (en) * | 2015-09-14 | 2017-09-01 | 桂林电子科技大学 | The sound positioning rescue robot and its application method of adaptive microphone array |
| CN107094290B (en) * | 2017-05-10 | 2023-04-07 | 东南大学 | Wireless indoor positioning system and positioning method based on self-extinguishing type super-regenerative receiver |
| CN109342996B (en) * | 2018-10-22 | 2023-03-28 | 重庆邮电大学 | Mobile phone accurate positioning searching device and method based on RFID global orthogonal rotation antenna |
| CN110187305B (en) * | 2019-04-19 | 2021-07-09 | 武汉虹信科技发展有限责任公司 | Positioning and direction finding system and method |
| CN111289970B (en) * | 2020-02-05 | 2022-05-06 | 山东兰动智能科技有限公司 | System and method for measuring wireless electronic encrypted beacon mine laying and electronic coordinate mine detection |
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