CN112198475A - Hydrology section positioning system based on ultra wide band technique - Google Patents
Hydrology section positioning system based on ultra wide band technique Download PDFInfo
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- CN112198475A CN112198475A CN202011072597.2A CN202011072597A CN112198475A CN 112198475 A CN112198475 A CN 112198475A CN 202011072597 A CN202011072597 A CN 202011072597A CN 112198475 A CN112198475 A CN 112198475A
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- 238000000034 method Methods 0.000 title description 5
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000005516 engineering process Methods 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 13
- 229910052744 lithium Inorganic materials 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 6
- 239000013078 crystal Substances 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 abstract description 16
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000003321 amplification Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 6
- 238000003199 nucleic acid amplification method Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
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- 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
- H04W4/025—Services making use of location information using location based information parameters
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Power Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a hydrological section positioning system based on an ultra-wideband technology, which comprises two positioning base stations and a label, wherein the label is fixed on a river crossing facility, the river crossing facility moves in a section along a direction vertical to a river, the two positioning base stations are positioned on two sides or the same side of the label, the label and the positioning base stations respectively comprise a main controller, a gyroscope, a watchdog module, an ultra-wideband radio frequency circuit and a communication radio frequency circuit, the gyroscope is used for detecting the motion state of the river crossing facility and sending signal data to the main controller, positioning data are transmitted between the positioning base stations and the main controller of the label through the ultra-wideband radio frequency circuit and the communication radio frequency circuit, and the watchdog module is used for monitoring the normal operation of the main controller and controlling the operation and interruption of the main controller. The invention realizes accurate positioning of the cross section, reduces the error of the area part in the flow test by 1 percent, realizes remote monitoring of river crossing test equipment through accurate positioning, and reduces the working intensity of staff in a hydrological station because maintenance is not needed.
Description
Technical Field
The invention relates to the technical field of hydrological section positioning, in particular to a hydrological section positioning system based on an ultra wide band technology.
Background
Accurate section positioning, particularly starting point distance positioning, is the basis of calculation of flow, sand content and the like in a hydrological station hydrological test, for example, a flow velocity area method test has obvious section effect, and the starting point distance and the water depth need to be accurately tested when the cross-section area is calculated; the first step of silt testing, whether single sand testing or sand-transporting rate testing, is to determine the position of the sampling vertical line, and the determination method is to use the starting point distance of the sampling section. A miss in the calculation of the starting point distance will result in a misalignment of the calculation of the subsequent calculation data before the decimal point. All equipment needs to be accurately positioned on the cross section in the unmanned and manned operation processes. The calculation of the vertical distance in the hydrological test is related to the precision of the test water depth of automatic equipment, such as a fish lead, an automatic test platform and the like, so that the accurate area of the section is obtained, and therefore, the positioning of the section test point is also an indispensable link in the unmanned upgrading of the hydrological station.
At present, the following common section testing devices exist, but all have the technical problems of large error and high cost:
1. the ELZ-2 type hydrological cableway distance measuring and ranging instrument measures distance by adopting a mode of counting the number of revolutions of a pulley by a sensor and then correcting by a theodolite, the ELZ-2 type hydrological cableway distance measuring and ranging instrument needs daily check, the counter cannot return to zero when river crossing equipment returns to a starting point, for rivers with the average river width within 40 meters in the north, the checking needs to be carried out at least 1 time every month, accumulated errors which are possibly generated are eliminated, otherwise, the errors are difficult to control within an allowable range required by relevant specifications, and the errors are difficult to avoid due to winch slippage under the climate with frequent hydrological tests such as rain and fog. For the main and branch hydrological station with large span of the cable channel, the distance meter is influenced by the sag of the cable channel, and the closer to the shore, the larger the positioning error.
2. The starting point distance signboard is characterized in that iron towers are fixedly installed on two sides near the cross section, distance signboards are hung between the iron towers every 0.5m or 1m according to requirements to mark starting point distance positions, the starting point distance signboards need manual positioning, the positioning error is large under the conditions of night and strong wind, the positioning with 1m or 0.5m as a unit can be realized, the positioning at positions other than 0.5m or an integer meter can not be realized, and the starting point distance of a special position can only be estimated through experience.
3. The differential GPS positioning realizes the section positioning, and the differential GPS positioning receiver realizes the positioning, thereby acquiring the position on the section, while the GPS (global positioning system) can only work in the visual range of a GPS positioning satellite, and the error of the low-precision receiver is 1m to 2 m. The high-precision differential GPS receiver has high manufacturing cost and the GPS receiver with the positioning precision of 0.2 meter has high manufacturing cost. Most of hydrology stations are remote, the guarantee rate of GPS signals is low, and the use is limited.
Disclosure of Invention
In order to solve at least or partially solve the problems, the ultra-wideband technology-based hydrological section positioning system is provided, the ultra-wideband positioning technology is used, the starting point distance and the height distance in a section can be accurately measured, the precision reaches within 10cm after a label is stably installed, and the maximum precision is not more than 30cm, so that the section positioning is realized. The positioning data is transmitted back to the hydrology station wireless relay 4G base station and the handheld display device in real time through a wireless communication technology, so that the test requirement in the station can be met, and the river crossing device can be controlled remotely. The invention does not need daily check, accumulated error and manual assistance, and is not influenced by various weather and temperatures. The high-precision positioning of the positioning system can assist the underwater deepening equipment to realize the high-precision moving distance above the water surface, so that the deepening precision is improved.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention discloses a hydrological section positioning system based on an ultra-wideband technology, which comprises two positioning base stations and a label, wherein the label is fixed on a river crossing facility, the river crossing facility moves in a section along a direction vertical to a river, the two positioning base stations are positioned on two sides or the same side of the label, the label and the positioning base stations respectively comprise a main controller, a gyroscope, a watchdog module, an ultra-wideband radio frequency circuit and a communication radio frequency circuit, the gyroscope is used for detecting the motion state of the river crossing facility and sending signal data to the main controller, positioning data are transmitted between the positioning base stations and the main controller of the label through the ultra-wideband radio frequency circuit and the communication radio frequency circuit, and the watchdog module is used for monitoring the normal operation of the main controller and controlling the operation and interruption of the main controller.
The invention also comprises a handheld display terminal and a 4G monitoring base station as a preferable technical scheme. And the handheld display terminal calculates the final measurement distance according to the positioning data sent by the positioning base station and the label. The 4G monitoring base station mainly uploads the real-time data of the base station and the tag to a cloud for storage and processing, and remotely controls and updates programs of the base station and the tag.
As a preferred technical solution of the present invention, the tag and positioning base station further includes a solar battery module and a battery management module, the battery management module includes a lithium battery module and a control circuit module, the lithium battery module supplies power to internal systems of the tag and positioning base station, the solar battery module is configured to convert solar energy into electric energy, and the control circuit module controls the solar battery module to charge the lithium battery module.
As a preferred technical solution of the present invention, the tag and the positioning base station further include a rainproof connector, and the rainproof connector is connected to an external charging power supply and a solar panel to charge an internal lithium battery.
As a preferred technical scheme of the present invention, the ultra-wideband radio frequency circuit includes a radio frequency communication transceiver controller, a high-stability crystal oscillator, a low-noise amplification circuit and a power amplification circuit, an output end of the radio frequency communication transceiver controller is respectively connected to the high-stability crystal oscillator, the low-noise amplification circuit and the power amplification circuit, and a distance between the tag and the base station is calculated by multiplying a time taken for the ultra-wideband radio frequency circuit between the tag and the base station to propagate back and forth by an optical speed.
Compared with the prior art, the invention has the following beneficial effects:
1. accurate positioning of the cross section is realized, and the error of the area part in the flow test is reduced by 1%.
2. And the remote control and monitoring of the river crossing test equipment are realized through accurate positioning.
3. And the maintenance is not needed, so that the working intensity of staff in the hydrology station is reduced.
4. The manufacturing cost is lower than that of the existing elz type origin distance counter and a differential GPS positioning system, the accuracy is far higher than that of the elz type counter and a section cable, the accuracy is not lower than that of the differential GPS, and the accuracy is within 0.2 meter.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the internal structure of a tag and a positioning base station of the present invention;
FIG. 3 is a schematic diagram of ranging of the present invention with positioning base stations located on both sides of a tag;
FIG. 4 is a schematic diagram of ranging of the present invention with the positioning base stations located on the same side of the tag;
FIG. 5 is a schematic diagram of an ultra-wideband RF circuit of the present invention;
in the figure: 1. positioning a base station; 2. a label; 3. a main controller; 4. a gyroscope; 5. a watchdog module; 6. an ultra-wideband radio frequency circuit; 7. a communication radio frequency circuit; 8. 4G remote updating of the monitoring base station; 9. a handheld display terminal; 10. a solar cell module; 11. a battery management module; 12. a lithium battery module; 13. A control circuit module; 14. a rain-proof connector.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In addition, if a detailed description of the known art is not necessary to show the features of the present invention, it is omitted.
Example 1
As shown in fig. 1-2, the invention provides a hydrological section positioning system based on ultra-wideband technology, which comprises two positioning base stations 1 and a tag 2, wherein the tag 2 is fixed on a river crossing facility, the river crossing facility moves in the section along the direction vertical to the river, the two positioning base stations 1 are positioned at two sides or the same side of the tag 2, the tag 2 and the positioning base stations 1 respectively comprise a main controller 3, a gyroscope 4, a watchdog module 5, an ultra-wideband radio frequency circuit 6 and a communication radio frequency circuit 7, the gyroscope 4 is used for detecting the motion state of the river crossing facility, and signal data are sent to the main controller 3, positioning data are transmitted between the positioning base station 1 and the main controller 3 of the tag 2 through the ultra-wideband radio frequency circuit 6 and the communication radio frequency circuit 7, and the watchdog module 5 is used for monitoring the normal operation of the main controller 3 and controlling the operation and interruption of the main controller 3.
Still include 4G remote update monitoring base station 8 and handheld display terminal 9, location base station 1 all is connected with handheld display terminal 9 through 4G remote update monitoring base station 8 with label 2, and handheld display terminal 9 calculates ultimate measuring distance according to the locating data that location base station 1 and label 2 sent, and the 4G base station is used for the remote update networking, and built-in flow card or connect wifi uses in the room.
The label 2 and the positioning base station 1 further comprise a solar battery module 10 and a battery management module 11, the battery management module 11 comprises a lithium battery module 12 and a control circuit module 13, the lithium battery module 12 supplies power for the label 2 and the internal system of the positioning base station 1, the solar battery module 10 is used for converting solar energy into electric energy, and the control circuit module 13 controls the solar battery module 10 to charge the lithium battery module 12.
The tag 2 and the positioning base station 1 further comprise a rainproof connector 14, the rainproof connector 14 is connected with an external power supply and the solar cell module 10, and an internal lithium battery is charged through the battery management module 11.
As shown in fig. 3-4, the positioning base station is erected on one side or both sides of the section line, and the tags move along with other river crossing facilities such as a river crossing hanging box and a traveling carriage, wherein BC is the positioning base station, a is a tag, and a plurality of tags are provided, and BC can be on the same side as or both sides of a. And three sides of the triangle ABC are obtained through an ultra-wideband positioning technology, so that the AD, namely the starting point distance and the BD height value are obtained through calculation.
The ultra-wideband technology is a carrier-free communication technology, data are transmitted by using nanosecond-microsecond-level non-sine wave narrow pulses, ultra-wideband ranging is realized by multiplying the time for ultra-wideband signals to propagate back and forth between two ranging modules by the speed of light, and the measured distance is the response time-program starting time multiplied by the speed of light, as shown in fig. 5, the ultra-wideband radio frequency circuit comprises a radio frequency communication transceiver controller which is integrated with a radio frequency transceiver circuit, and the external matching with circuits such as a high-stability crystal oscillator can achieve the ranging precision of 10cm, and can achieve the ranging precision of 30cm when being shielded. In order to overcome the defect that the transmitting power of a chip is low and can only reach the distance of 50m actually, a power amplification circuit and a low-noise amplification circuit are additionally arranged on the ultra-wideband radio frequency circuit part so as to reach the positioning distance of 600 m.
The invention mainly solves the following technical problems:
1. the current measuring distance is not higher than 600m and not lower than 5 m;
2. the measurement precision of the non-shielding stable installation of the section is not lower than 0.2m (the measurement distance is 5m to 600m, the precision is 0.2m, and the precision within 5m is 0.5 m).
3. The measurement precision of the shielding of the section is not lower than 0.5m (the measurement distance is 5m to 600m, the precision is 0.5m, and the precision within 5m is 1 m);
4. the continuous working time is not less than 120 h; after the customized structure is added, the outdoor base station adopts a solar panel and battery power supply mode to ensure continuous whole-year work under the normal working condition of the hydrological station; the handheld display adopts USB power supply;
5. adding a customized structure, and then, working at a temperature of-30 ℃ to +80 ℃;
6. after the customized structure is added, the rain resistance reaches the IP65 grade, and the outdoor work can be realized;
7. after the wireless relay 4G base station is added, remote software upgrading is realized, and the real-time position, the state and the like of the positioned label can be checked in a real-time background.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A hydrological section positioning system based on ultra wide band technology is characterized by comprising two positioning base stations (1) and a tag (2), wherein the tag (2) is fixed on a river crossing facility, the river crossing facility moves in the section along the direction vertical to a river, the two positioning base stations (1) are positioned on two sides or the same side of the tag (2), the tag (2) and the positioning base stations (1) respectively comprise a main controller (3), a gyroscope (4), a watchdog module (5), an ultra wide band radio frequency circuit (6) and a communication radio frequency circuit (7), the gyroscope (4) is used for detecting the motion state of the river crossing facility and sending signal data to the main controller (3), and positioning data are transmitted between the positioning base stations (1) and the main controller (3) of the tag (2) through the ultra wide band radio frequency circuit (6) and the communication radio frequency circuit (7), the watchdog module (5) is used for monitoring the normal operation of the main controller (3) and controlling the operation and interruption of the main controller (3).
2. The system for positioning the hydrological section based on the ultra wide band technology according to claim 1, further comprising a 4G monitoring base station (8) and a handheld display terminal (9), wherein the 4G monitoring base station (8) mainly uploads real-time data of the base station (1) and the tag (2) to a cloud for storage, processing and remote control and program updating of the base station (1) and the tag (2), and the handheld display terminal (9) calculates a final measurement distance according to positioning data sent by the positioning base station (1) and the tag (2).
3. The ultra-wideband technology-based hydrological section positioning system according to claim 1, wherein the tag (2) and the positioning base station (1) further comprise a solar battery module (10) and a battery management module (11), the battery management module (11) comprises a lithium battery module (12) and a control circuit module (13), the lithium battery module (12) supplies power to internal systems of the tag (2) and the positioning base station (1) and monitors the state of the lithium battery, the solar battery module (10) is used for converting solar energy into electric energy, and the control circuit module (13) controls the solar battery module (10) to perform maximum power tracking charging on the lithium battery module (12).
4. A hydrological section positioning system based on ultra wide band technology according to claim 4, characterized in that the tag (2) and the positioning base station (1) further comprise a rain-proof connector (14), the rain-proof connector (14) provides a water-proof function for the tag (2) and the positioning base station (1), and the battery management module (11) charges the battery through the rain-proof connector (14).
5. The system of claim 1, wherein the ultra-wideband radio frequency circuit comprises a radio frequency communication transceiver controller, a high-stability crystal oscillator, a low-noise amplifier circuit and a power amplifier circuit, wherein an output end of the radio frequency communication transceiver controller is respectively connected with the high-stability crystal oscillator, the low-noise amplifier circuit and the power amplifier circuit, and the distance between the tag and the base station is calculated by multiplying the time taken by the ultra-wideband radio frequency circuit between the tag and the base station to propagate back and forth by the speed of light.
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| CN202011072597.2A CN112198475A (en) | 2020-10-09 | 2020-10-09 | Hydrology section positioning system based on ultra wide band technique |
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| CN202011072597.2A CN112198475A (en) | 2020-10-09 | 2020-10-09 | Hydrology section positioning system based on ultra wide band technique |
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