CN106643916A - Environment monitoring system based on unmanned aerial vehicle and monitoring method - Google Patents

Environment monitoring system based on unmanned aerial vehicle and monitoring method Download PDF

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Publication number
CN106643916A
CN106643916A CN201710138645.5A CN201710138645A CN106643916A CN 106643916 A CN106643916 A CN 106643916A CN 201710138645 A CN201710138645 A CN 201710138645A CN 106643916 A CN106643916 A CN 106643916A
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unmanned plane
module
data
detection module
monitoring system
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邹霞
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Studio Devices (AREA)

Abstract

The invention relates to an environment monitoring system and especially relates to the environment monitoring system based on an unmanned aerial vehicle and a monitoring method. The environment monitoring system based on the unmanned aerial vehicle comprises a flight control module, a navigation module, a data collecting module, an environment monitoring module, an optical camera, a barometric altimeter, a storage and a wireless transmission module which are arranged on the unmanned aerial vehicle and a ground workstation, wherein the data collecting module is connected with the environment monitoring module, and the data collecting module is also connected with a GPS (Global Positioning System), the barometric altimeter and the storage; the optical camera is used for storing an image in the storage; the wireless transmission module is connected with the ground workstation through a wireless communication network; and the ground workstation is used for controlling the unmanned aerial vehicle, receiving environment data, geographic data and image data, and storing and analyzing the data. The environment monitoring system can realize a quick, comprehensive and accurate monitoring function for an environmental protection monitoring area and can increase the monitoring efficiency and the monitoring instantaneity and intuition.

Description

Unmanned plane environmental monitoring system and monitoring method
Technical field
The present invention relates to a kind of environmental monitoring system, especially unmanned plane environmental monitoring system and monitoring method.
Background technology
Atmosphere quality monitoring is the important component part of China environmental protection work, and China is supervised in atmospheric environment at present Laboratory personal monitoring based on monitoring method automatic monitoring supplemented by, the air that using manual type carry out are taken in survey mainly Mass monitoring system, mostly has that delayed monitoring real-time, limited space, precision are low.And automatic monitoring mostly is Fixing point is monitored, it is impossible to the gas-monitoring of large area, the macroscopic view of various height is carried out to monitored area.
The content of the invention
To solve the above problems, the present invention provides a kind of macroscopical gas-monitoring system that can carry out large area, various height Unite, concrete technical scheme is：
Unmanned plane environmental monitoring system, including the flight control modules on unmanned plane, navigation module, data acquisition module Block, context detection module, optical camera, barometertic altimeter, memorizer, wireless transport module, and ground handling station；It is described to fly Row control module is used to manually or automatically control unmanned plane during flying, and the navigation module is provided with GPS, for automatic flight navigation； Gas and/or particle content in the context detection module detection air；Described data acquisition module passes through A/D interfaces It is connected the environmental data of acquisition testing with context detection module, the data acquisition module is also connected with GPS and barometertic altimeter, When environmental data is gathered, synchronous acquisition includes the geodata of position and height；The data acquisition module is connected with memorizer Store various environmental datas and geodata；The optical camera is connected with memorizer, and picture is stored on a memory；Data Acquisition module and optical camera are connected with wireless transport module, and wireless transport module passes through wireless communication networks and ground handling Stand connection, ground handling stand control unmanned plane, and environment of accepting data, geodata and image data, and carry out storage and Analyzing and processing.
Preferably, the oriented module also includes inertance element, carries out inertial navigation.
Preferably, the context detection module includes particulate matter detection module and/or gas detection module and/or meteorological ginseng Number detection module.
Wherein, the gas detection module include the two-in-one sensor of hydrogen sulfide/nitric oxide, nitric oxide sensor, One or more in nitrogen dioxide sensor, SO 2 sensor and ammonia gas sensor.
The particulate matter detection module includes PM2.5 sensors and PM10 sensors.
The meteorologic parameter detection module includes temperature sensor, humidity sensor.
Further, the ground handling station includes being connected with computer monitoring terminal, wireless transport module, display And input equipment；The monitoring terminal arranges the flight path of unmanned plane, and controls unmanned plane, and monitoring terminal is according to geographical letter Breath, picture and environmental data show the scattergram of the environmental data of solid over the display.
The monitoring method of unmanned plane environmental monitoring system, comprises the following steps：
S1 arrange flight path, according to place to be measured arrange unmanned plane automated flight path, including measurement original position and Terminal location, the original position and terminal location include longitude and latitude and height, the flight path be it is reciprocating, back and forth by Row scanning；
S2 installation environment detection modules, the project alternativess monitored as needed install corresponding particulate matter detection module and/or gas Body detection module and/or meteorologic parameter detection module, and optical camera；
S3 starts environment measuring, and after unmanned plane lift-off, starting navigation module carries out self-navigation, or is entered by ground handling station Pedestrian's industry control system is flown, and data acquisition module timing detects the position of unmanned plane, determines the longitude and latitude of unmanned plane according to navigation module Degree, determines the height above sea level of unmanned plane according to barometertic altimeter, and the longitude and latitude with setting and height are contrasted, when arrival sets During fixed original position, unmanned plane starts detection module；
S4 data acquisitions, the data and geodata of data collecting module collected context detection module, and by environment measuring data Store in memorizer with geodata, optical camera stores picture in memorizer simultaneously, and while add geodata；
S5 real-time Data Transmission, when opening real-time Transmission, the data collecting system and optical camera are simultaneously by being wirelessly transferred Module is by the data transfer for gathering to ground handling station；
S6 terminates environment measuring, when unmanned plane incoming terminal position, i.e., the longitude and latitude of unmanned plane and height and setting terminal When position is identical, stops environment measuring and take pictures, unmanned plane makes a return voyage；
S7 data processings, the monitor terminal at ground handling station are shown over the display according to geography information, picture and environmental data The scattergram of three-dimensional environmental data.
Wherein, flight path of step S1 also including multiple height, i.e., arrange different height monitorings, shape in the same area Into the scattergram of the environmental data of differing heights.
Compared with prior art the invention has the advantages that：
The unmanned plane environmental monitoring system and monitoring method that the present invention is provided installs airborne context detection module on unmanned plane can With Real-time Collection difference position, differing heights, gas with various concentration and GPS data, ground is sent to by wireless-transmission network On work station, ground handling station obtains the different gas of multiple elevation planes of unmanned plane institute flight range by Data Management Analysis Bulk concentration, realizes quick, comprehensively and accurately monitoring function to environment monitoring region, improves efficiency and the monitoring of monitoring Real-time and intuitive.
Specific embodiment
The specific embodiment of the present invention is illustrated in conjunction with embodiment.
Embodiment 1
Unmanned plane environmental monitoring system, including the flight control modules on unmanned plane, navigation module, data acquisition module Block, context detection module, optical camera, barometertic altimeter, memorizer, wireless transport module, and ground handling station；It is described to fly Row control module is used to manually or automatically control unmanned plane during flying, and the navigation module is provided with GPS, for automatic flight navigation； Gas and/or particle content in the context detection module detection air；Described data acquisition module passes through A/D interfaces It is connected the environmental data of acquisition testing with context detection module, the data acquisition module is also connected with GPS and barometertic altimeter, When environmental data is gathered, synchronous acquisition includes the geodata of position and height；The data acquisition module is connected with memorizer Store various environmental datas and geodata；The optical camera is connected with memorizer, and picture is stored on a memory；Data Acquisition module and optical camera are connected with wireless transport module, and wireless transport module passes through wireless communication networks and ground handling Stand connection, ground handling stand control unmanned plane, and environment of accepting data, geodata and image data, and carry out storage and Analyzing and processing.
Preferably, the oriented module also includes inertance element, carries out inertial navigation.
Navigation of Pilotless Aircraft adopts GPS/INS integrated navigations, the combination to have very strong complementarity, and GPS can eliminate INS's Accumulated error, INS can be provided accurate positioning GPS/INS integrated navigation systems in short-term and be melted with data in gps signal losing lock Rationally based on opinion, using Kalman filtering as main fusion method, to GPS location data and INS into combined system Location data carries out respectively estimating, corrects, merges, solve that gps signal losing lock causes cannot orientation problem and INS accumulation miss The long time drift problem that difference causes.
Preferably, the context detection module includes particulate matter detection module and/or gas detection module and/or meteorologic parameter inspection Survey module.
Wherein, the gas detection module include the two-in-one sensor of hydrogen sulfide/nitric oxide, nitric oxide sensor, One or more in nitrogen dioxide sensor, SO 2 sensor and ammonia gas sensor.
The particulate matter detection module includes PM2.5 sensors and PM10 sensors.
The meteorologic parameter detection module includes temperature sensor, humidity sensor.
Further, the ground handling station includes being connected with computer monitoring terminal, wireless transport module, display And input equipment；The monitoring terminal arranges the flight path of unmanned plane, and controls unmanned plane, and monitoring terminal is according to geographical letter Breath, picture and environmental data show the scattergram of the environmental data of solid over the display.
Embodiment 2
The monitoring method of unmanned plane environmental monitoring system, comprises the following steps：
S1 arrange flight path, according to place to be measured arrange unmanned plane automated flight path, including measurement original position and Terminal location, the original position and terminal location include longitude and latitude and height, the flight path be it is reciprocating, back and forth by Row scanning；
S2 installation environment detection modules, the project alternativess monitored as needed install corresponding particulate matter detection module and/or gas Body detection module and/or meteorologic parameter detection module, and optical camera；
S3 starts environment measuring, and after unmanned plane lift-off, starting navigation module carries out self-navigation, or is entered by ground handling station Pedestrian's industry control system is flown, and data acquisition module timing detects the position of unmanned plane, determines the longitude and latitude of unmanned plane according to navigation module Degree, determines the height above sea level of unmanned plane according to barometertic altimeter, and the longitude and latitude with setting and height are contrasted, when arrival sets During fixed original position, unmanned plane starts detection module；
S4 data acquisitions, the data and geodata of data collecting module collected context detection module, and by environment measuring data Store in memorizer with geodata, optical camera stores picture in memorizer simultaneously, and while add geodata；
S5 real-time Data Transmission, when opening real-time Transmission, the data collecting system and optical camera are simultaneously by being wirelessly transferred Module is by the data transfer for gathering to ground handling station；
S6 terminates environment measuring, when unmanned plane incoming terminal position, i.e., the longitude and latitude of unmanned plane and height and setting terminal When position is identical, stops environment measuring and take pictures, unmanned plane makes a return voyage；
S7 data processings, the monitor terminal at ground handling station are shown over the display according to geography information, picture and environmental data The scattergram of three-dimensional environmental data.
Wherein, flight path of step S1 also including multiple height, i.e., arrange different height monitorings, shape in the same area Into the scattergram of the environmental data of differing heights.

Claims (9)

1. unmanned plane environmental monitoring system, it is characterised in that include flight control modules on unmanned plane, navigation mould Block, data acquisition module, context detection module, optical camera, barometertic altimeter, memorizer, wireless transport module, and ground Work station；The flight control modules are used to manually or automatically control unmanned plane during flying, and the navigation module is provided with GPS, is used for Automatic flight navigation；Gas and/or particle content in the context detection module detection air；Described data acquisition module The environmental data of acquisition testing is connected by A/D interfaces with context detection module, the data acquisition module is also gentle with GPS Pressure altimeter connection, when environmental data is gathered, synchronous acquisition includes the geodata of position and height；The data acquisition module Block is connected the various environmental datas of storage and geodata with memorizer；The optical camera is connected with memorizer, and picture is stored On a memory；Data acquisition module and optical camera are connected with wireless transport module, and wireless transport module is by wireless Communication network is connected with ground handling station, ground handling stand control unmanned plane, and environment of accepting data, geodata and picture number According to, and stored and analyzed and processed.
2. unmanned plane environmental monitoring system according to claim 1, it is characterised in that the oriented module also includes inertia Element, carries out inertial navigation.
3. a unmanned plane environmental monitoring system according to claim 1, it is characterised in that the context detection module includes Grain analyte detection module and/or gas detection module and/or meteorologic parameter detection module.
4. unmanned plane environmental monitoring system according to claim 3, it is characterised in that the gas detection module includes sulfur Change the two-in-one sensor of hydrogen/nitric oxide, nitric oxide sensor, nitrogen dioxide sensor, SO 2 sensor and ammonia One or more in sensor.
5. unmanned plane environmental monitoring system according to claim 3, it is characterised in that the particulate matter detection module includes PM2.5 sensors and PM10 sensors.
6. unmanned plane environmental monitoring system according to claim 3, it is characterised in that the meteorologic parameter detection module bag Include temperature sensor, humidity sensor.
7. unmanned plane environmental monitoring system according to claim 1, it is characterised in that the ground handling station include with Monitoring terminal, wireless transport module, display and input equipment that computer connects；The monitoring terminal arranges flying for unmanned plane Walking along the street footpath, and unmanned plane is controlled, monitoring terminal shows the ring of solid over the display according to geography information, picture and environmental data The scattergram of border data.
8. the monitoring method of unmanned plane environmental monitoring system according to claim 1, it is characterised in that including following step Suddenly：
S1 arrange flight path, according to place to be measured arrange unmanned plane automated flight path, including measurement original position and Terminal location, the original position and terminal location include longitude and latitude and height, the flight path be it is reciprocating, back and forth by Row scanning；
S2 installation environment detection modules, the project alternativess monitored as needed install corresponding particulate matter detection module and/or gas Body detection module and/or meteorologic parameter detection module, and optical camera；
S3 starts environment measuring, and after unmanned plane lift-off, starting navigation module carries out self-navigation, or is entered by ground handling station Pedestrian's industry control system is flown, and data acquisition module timing detects the position of unmanned plane, determines the longitude and latitude of unmanned plane according to navigation module Degree, determines the height above sea level of unmanned plane according to barometertic altimeter, and the longitude and latitude with setting and height are contrasted, when arrival sets During fixed original position, unmanned plane starts detection module；
S4 data acquisitions, the data and geodata of data collecting module collected context detection module, and by environment measuring data Store in memorizer with geodata, optical camera stores picture in memorizer simultaneously, and while add geodata；
S5 real-time Data Transmission, when opening real-time Transmission, the data collecting system and optical camera are simultaneously by being wirelessly transferred Module is by the data transfer for gathering to ground handling station；
S6 terminates environment measuring, when unmanned plane incoming terminal position, i.e., the longitude and latitude of unmanned plane and height and setting terminal When position is identical, stops environment measuring and take pictures, unmanned plane makes a return voyage；
S7 data processings, the monitor terminal at ground handling station are shown over the display according to geography information, picture and environmental data The scattergram of three-dimensional environmental data.
9. the monitoring method of unmanned plane environmental monitoring system according to claim 8, it is characterised in that step S1 also includes The flight path of multiple height, i.e., arrange different height monitorings in the same area, formed differing heights environmental data point Butut.
CN201710138645.5A 2017-03-09 2017-03-09 Environment monitoring system based on unmanned aerial vehicle and monitoring method Pending CN106643916A (en)

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CN107561600A (en) * 2017-09-15 2018-01-09 深圳市卡普瑞环境科技有限公司 A kind of air quality detection method and detection device
CN107861520A (en) * 2017-12-01 2018-03-30 上海市环境科学研究院 A kind of more equipment multiple-sensor integration systems of multi-rotor unmanned aerial vehicle
CN107861436A (en) * 2017-12-01 2018-03-30 上海市环境科学研究院 A kind of multi-rotor unmanned aerial vehicle high altitude environment detecting system
CN107860869A (en) * 2017-11-03 2018-03-30 成都大学 A kind of intelligent air monitoring system and monitoring method based on aircraft
CN107909790A (en) * 2017-11-13 2018-04-13 成都航空职业技术学院 A kind of airborne dust monitoring system based on unmanned plane
CN108036816A (en) * 2017-11-15 2018-05-15 佛山杰致信息科技有限公司 A kind of unfixed point environmental monitoring system based on unmanned air vehicle technique
CN108052873A (en) * 2017-11-27 2018-05-18 易瓦特科技股份公司 The method, apparatus and system being identified based on earth station to gray haze source
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CN108062513A (en) * 2017-11-27 2018-05-22 易瓦特科技股份公司 The method, apparatus and system being identified based on remote server to gray haze source
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CN108121947A (en) * 2017-11-27 2018-06-05 易瓦特科技股份公司 It is warned based on earth station the method, apparatus and system in gray haze source
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Application publication date: 20170510