CN112911508A - High-frequency sound wave under-forest positioning method and system - Google Patents
High-frequency sound wave under-forest positioning method and system Download PDFInfo
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- H—ELECTRICITY
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- 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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- 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
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Abstract
The invention relates to a high-frequency sound wave under-forest positioning method and a system, wherein the method comprises the following steps: respectively establishing a reference station combining device and a mobile station in a forest area; periodically transmitting high-frequency sound wave signals to the forest area by using a reference station combination device; receiving the high-frequency sound wave signals transmitted by the reference station combination device by using the mobile station, and acquiring the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device; the position of the mobile station is obtained from the position information of the reference station combining means, the time at which the reference station combining means transmits the high-frequency acoustic wave signal, and the time at which the mobile station receives the high-frequency acoustic wave signal transmitted by the reference station combining means. The technical scheme that this application provided can realize accurate location in the forest that the degree is covered to the depression height, spatial structure is complicated and complicated, has not only improved the precision of forestry investigation, has still promoted the credibility of forestry monitoring.
Description
Technical Field
The invention belongs to the technical field of forest area positioning, and particularly relates to a high-frequency sound wave under-forest positioning method and system.
Background
The forest resources in China are wide and dense, the forest coverage rate reaches 22.96%, and meanwhile, the forest resource is the country with the most growth in the world. The forest is an important component of a land ecosystem and has important significance for recovering the ecological environment. Therefore, the method has important significance for real-time monitoring of the forest, ecological restoration and natural disaster prevention. But the forest is difficult to monitor due to the characteristics of complex space structure and relative shade.
The GPS (global positioning system) is an ideal space positioning system, but because the forest canopy of the forest can shield the GPS signal, the GPS signal is attenuated, and meanwhile, the normal GPS signal is interfered, so that the GPS positioning precision is low, and the monitoring reliability is reduced.
Disclosure of Invention
In view of this, the present invention provides a method and a system for positioning under a high frequency sound forest to solve the problems of low positioning accuracy and low monitoring reliability in the prior art.
According to a first aspect of the embodiments of the present application, there is provided a high-frequency soundwave under-forest positioning method, including:
respectively establishing a reference station combining device and a mobile station in a forest area;
periodically transmitting high-frequency sound wave signals to the forest area by using the reference station combination device; the high-frequency sound wave signals carry the position information of the reference station combination device and the time of transmitting the high-frequency sound wave signals by the reference station combination device;
receiving the high-frequency sound wave signals transmitted by the reference station combination device by using the mobile station, and acquiring the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device;
and acquiring the position of the mobile station according to the position information of the reference station combination device, the time of transmitting the high-frequency sound wave signal by the reference station combination device and the time of receiving the high-frequency sound wave signal transmitted by the reference station combination device by the mobile station.
Further, the reference station combining apparatus includes: at least three reference stations;
each of the reference stations includes: the system comprises a GPS positioning module, a high-frequency sound wave transmitter and a first precise clock module;
the mobile station includes: a second precision clock module and a high-frequency sound wave receiver.
Further, before the step of periodically transmitting the high-frequency acoustic wave signal to the forest area by using the reference station combination device, the method further includes:
and time calibration is carried out on the first precise clock module and the second precise clock module.
Further, the GPS positioning module is configured to acquire position information of the reference station;
the high-frequency sound wave transmitter is used for periodically transmitting high-frequency sound wave signals to the forest area;
and the first precise clock module is used for acquiring the time of transmitting the high-frequency sound wave signal by the reference station.
Further, the high-frequency sound wave receiver is used for receiving a high-frequency sound wave signal transmitted by the reference station;
and the second precise clock module is used for acquiring the time for receiving the high-frequency sound wave signal transmitted by the reference station.
Further, the acquiring the position of the mobile station according to the position information of the reference station combination device, the time when the reference station combination device transmits the high-frequency acoustic wave signal, and the time when the mobile station receives the high-frequency acoustic wave signal transmitted by the reference station combination device includes:
obtaining a position (X, Y, Z) of the mobile station as follows:
in the above formula, i is belonged to [1, n ∈]N is the total number of reference stations; xiIs the abscissa, Y, of the i-th reference stationiIs the ordinate, Z, of the i-th reference stationiIs the vertical coordinate of the ith reference station, X is the horizontal coordinate of the mobile station, Y is the vertical coordinate of the mobile station, Z is the vertical coordinate of the mobile station, tiTime of transmission of high frequency acoustic signal for ith reference station, TiV is the propagation speed of the sound wave for the time when the mobile station receives the i-th reference station transmitting the high-frequency sound wave signal.
Furthermore, each reference station is respectively arranged outside the forest area or in the open area of the forest area.
Further, the mobile station is arranged inside a forest area.
According to a second aspect of embodiments of the present application, there is provided a high-frequency acoustic forest positioning system, the system including:
the reference station combination device is used for periodically transmitting high-frequency sound wave signals to the forest area; the high-frequency sound wave signals carry the position information of the reference station combination device and the time of transmitting the high-frequency sound wave signals by the reference station combination device;
the mobile station is used for receiving the high-frequency sound wave signals transmitted by the reference station combination device and acquiring the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device;
and the calculating module is used for acquiring the position of the mobile station according to the position information of the reference station combination device, the time of transmitting the high-frequency sound wave signal by the reference station combination device and the time of receiving the high-frequency sound wave signal transmitted by the reference station combination device by the mobile station.
Further, the reference station combining apparatus includes: at least three reference stations;
each of the reference stations includes: the system comprises a GPS positioning module, a high-frequency sound wave transmitter and a first precise clock module;
the mobile station includes: a second precision clock module and a high-frequency sound wave receiver.
By adopting the technical scheme, the invention can achieve the following beneficial effects: the method comprises the steps of respectively establishing a reference station combination device and a mobile station in a forest area, periodically transmitting high-frequency sound wave signals to the forest area by using the reference station combination device, receiving the high-frequency sound wave signals transmitted by the reference station combination device by using the mobile station and acquiring the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device, and acquiring the position of the mobile station according to the position information of the reference station combination device, the time for transmitting the high-frequency sound wave signals by using the reference station combination device and the time for receiving the high-frequency sound wave signals transmitted by using the mobile station.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow diagram illustrating a high frequency sonic understory positioning method in accordance with an exemplary embodiment;
FIG. 2 is a schematic diagram of a reference station shown in accordance with an exemplary embodiment;
FIG. 3 is a block diagram illustrating a mobile station in accordance with an exemplary embodiment;
FIG. 4 is a schematic diagram illustrating a distribution of reference site combining means and mobile stations in accordance with an exemplary embodiment;
fig. 5 is a block diagram illustrating a high frequency sonic understory positioning system in accordance with an exemplary embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Fig. 1 is a flow chart illustrating a high frequency soundwave under forest positioning method according to an exemplary embodiment, which may be used in a terminal, but is not limited to, as shown in fig. 1, and includes the following steps:
step 101: respectively establishing a reference station combining device and a mobile station in a forest area;
step 102: periodically transmitting high-frequency sound wave signals to the forest area by using a reference station combination device; the high-frequency sound wave signals carry the position information of the reference station combination device and the time of the reference station combination device for transmitting the high-frequency sound wave signals;
step 103: receiving the high-frequency sound wave signals transmitted by the reference station combination device by using the mobile station, and acquiring the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device;
step 104: the position of the mobile station is obtained from the position information of the reference station combining means, the time at which the reference station combining means transmits the high-frequency acoustic wave signal, and the time at which the mobile station receives the high-frequency acoustic wave signal transmitted by the reference station combining means.
Further, the reference station combining device includes: at least three reference stations;
as shown in fig. 2, each reference station includes: the system comprises a GPS positioning module, a high-frequency sound wave transmitter and a first precise clock module;
as shown in fig. 3, the mobile station includes: a second precision clock module and a high-frequency sound wave receiver.
It should be noted that the number of reference stations can be set by those skilled in the art according to actual needs, expert experience, experimental data, and the like.
Further, but not limited to, each reference station may be respectively located at a position outside the forest area or in a wide area of the forest area where the GPS signal is received;
the mobile station is located inside a forest area.
For example, as shown in fig. 4, if there are 4 reference stations, the 4 reference stations may be respectively arranged in four directions outside the forest area; the mobile station is located in a forest area.
Further, before step 102, the method further includes:
and time calibration is carried out on the first precision clock module and the second precision clock module so as to ensure the time synchronization of the first precision clock module and the second precision clock module.
Further, the GPS positioning module is used for acquiring the position information of the reference station;
the high-frequency sound wave transmitter is used for periodically transmitting high-frequency sound wave signals to the forest area;
and the first precise clock module is used for acquiring the time of transmitting the high-frequency sound wave signal by the reference station.
It should be noted that, a person skilled in the art can set how to regularly transmit the high-frequency acoustic wave signal by the high-frequency acoustic wave transmitter according to actual needs, expert experience, experimental data, or the like. In some optional embodiments, the high-frequency sound wave transmitter alternately transmits high-frequency sound wave signals to the forest area according to a certain period; the period may be, but is not limited to: 5 seconds, 1 minute, or 5 minutes, etc.
Further, the high-frequency sound wave receiver is used for receiving the high-frequency sound wave signals transmitted by the reference station;
and the second precise clock module is used for acquiring the time for receiving the high-frequency sound wave signal transmitted by the reference station.
Further, step 104 includes:
the position (X, Y, Z) of the mobile station is obtained as follows:
in the above formula, i is belonged to [1, n ∈]N is the total number of reference stations; xiIs the abscissa, Y, of the i-th reference stationiIs the ordinate, Z, of the i-th reference stationiIs the vertical coordinate of the ith reference station, X is the horizontal coordinate of the mobile station, Y is the vertical coordinate of the mobile station, Z is the vertical coordinate of the mobile station, tiTime of transmission of high frequency acoustic signal for ith reference station, TiV is the propagation speed of the sound wave for the time when the mobile station receives the i-th reference station transmitting the high-frequency sound wave signal.
In some embodiments, the above equation of the spatial line equation may be solved, but not limited to, using least squares adjustment to obtain the position (X, Y, Z) of the mobile station.
According to the high-frequency sound wave under-forest positioning method provided by the embodiment of the invention, the reference station combination device and the mobile station are respectively established in the forest area, the reference station combination device is used for periodically transmitting high-frequency sound wave signals to the forest area, the mobile station is used for receiving the high-frequency sound wave signals transmitted by the reference station combination device and acquiring the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device, and the position of the mobile station is acquired according to the position information of the reference station combination device, the time for transmitting the high-frequency sound wave signals by the reference station combination device and the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device by the mobile station.
The embodiment of the invention utilizes the characteristic that high-frequency sound waves can penetrate through the forest canopy layer to construct more than 3 reference stations by combining a GPS, a high-frequency sound wave emitter and a precise clock in a forest area open area, and the high-frequency sound wave emitter of each reference station alternately emits high-frequency sound wave signals to the forest area according to a certain period, wherein the content of the high-frequency sound wave signals is the position of each reference station and the precise time when the signals are emitted. The mobile station consists of a high-frequency sound wave receiver and a precise clock, and receives the position and time information transmitted by the reference station. And calculating the accurate position of the mobile station by using a space linear equation according to the position of the reference station and the time difference of the received high-frequency sound wave.
An embodiment of the present invention further provides a high-frequency acoustic forest positioning system, as shown in fig. 5, the system includes:
the reference station combination device is used for periodically transmitting high-frequency sound wave signals to the forest area; the high-frequency sound wave signals carry the position information of the reference station combination device and the time of the reference station combination device for transmitting the high-frequency sound wave signals;
the mobile station is used for receiving the high-frequency sound wave signals transmitted by the reference station combination device and acquiring the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device;
and the calculation module is used for acquiring the position of the mobile station according to the position information of the reference station combination device, the time of transmitting the high-frequency sound wave signal by the reference station combination device and the time of receiving the high-frequency sound wave signal transmitted by the reference station combination device by the mobile station.
Further, the reference station combining device includes: at least three reference stations;
each reference station comprises: the system comprises a GPS positioning module, a high-frequency sound wave transmitter and a first precise clock module;
the mobile station includes: a second precision clock module and a high-frequency sound wave receiver.
It should be noted that the number of reference stations can be set by those skilled in the art according to actual needs, expert experience, experimental data, and the like.
Further, but not limited to, each reference station may be respectively located at a position outside the forest area or in a wide area of the forest area where the GPS signal is received;
the mobile station is located inside a forest area.
Further, the system further comprises:
and the calibration module is used for carrying out time calibration on the first precision clock module and the second precision clock module.
Further, the GPS positioning module is used for acquiring the position information of the reference station;
the high-frequency sound wave transmitter is used for periodically transmitting high-frequency sound wave signals to the forest area;
and the first precise clock module is used for acquiring the time of transmitting the high-frequency sound wave signal by the reference station.
Further, the high-frequency sound wave receiver is used for receiving the high-frequency sound wave signals transmitted by the reference station;
and the second precise clock module is used for acquiring the time for receiving the high-frequency sound wave signal transmitted by the reference station.
Further, the calculation module is specifically configured to:
the position (X, Y, Z) of the mobile station is obtained as follows:
in the above formula, i is belonged to [1, n ∈]N is the total number of reference stations; xiIs the abscissa, Y, of the i-th reference stationiIs the ordinate, Z, of the i-th reference stationiIs the vertical coordinate of the ith reference station, X is the horizontal coordinate of the mobile station, Y is the vertical coordinate of the mobile station, Z is the vertical coordinate of the mobile station, tiTime of transmission of high frequency acoustic signal for ith reference station, TiV is the propagation speed of the sound wave for the time when the mobile station receives the i-th reference station transmitting the high-frequency sound wave signal.
In some embodiments, the above equation of the spatial line equation may be solved, but not limited to, using least squares adjustment to obtain the position (X, Y, Z) of the mobile station.
According to the high-frequency sound wave under-forest positioning system provided by the embodiment of the invention, the reference station combination device is used for periodically transmitting high-frequency sound wave signals to a forest area, the mobile station receives the high-frequency sound wave signals transmitted by the reference station combination device and acquires the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device, and the computing module acquires the position of the mobile station according to the position information of the reference station combination device, the time for transmitting the high-frequency sound wave signals by the reference station combination device and the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device by the mobile station.
It is to be understood that the system embodiments provided above correspond to the method embodiments described above, and corresponding specific contents may be referred to each other, which are not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A high-frequency sound wave under-forest positioning method is characterized by comprising the following steps:
respectively establishing a reference station combining device and a mobile station in a forest area;
periodically transmitting high-frequency sound wave signals to the forest area by using the reference station combination device; the high-frequency sound wave signals carry the position information of the reference station combination device and the time of transmitting the high-frequency sound wave signals by the reference station combination device;
receiving the high-frequency sound wave signals transmitted by the reference station combination device by using the mobile station, and acquiring the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device;
and acquiring the position of the mobile station according to the position information of the reference station combination device, the time of transmitting the high-frequency sound wave signal by the reference station combination device and the time of receiving the high-frequency sound wave signal transmitted by the reference station combination device by the mobile station.
2. The method of claim 1, wherein the reference site assembly means comprises: at least three reference stations;
each of the reference stations includes: the system comprises a GPS positioning module, a high-frequency sound wave transmitter and a first precise clock module;
the mobile station includes: a second precision clock module and a high-frequency sound wave receiver.
3. The method of claim 2, wherein prior to said periodically transmitting high frequency acoustic signals to the forest area using said reference station combining means, further comprising:
and time calibration is carried out on the first precise clock module and the second precise clock module.
4. The method of claim 2, wherein the GPS positioning module is configured to obtain location information of the reference station;
the high-frequency sound wave transmitter is used for periodically transmitting high-frequency sound wave signals to the forest area;
and the first precise clock module is used for acquiring the time of transmitting the high-frequency sound wave signal by the reference station.
5. The method of claim 4, wherein the high frequency acoustic receiver is configured to receive a high frequency acoustic signal transmitted by the reference station;
and the second precise clock module is used for acquiring the time for receiving the high-frequency sound wave signal transmitted by the reference station.
6. The method according to claim 5, wherein said obtaining the position of the mobile station based on the position information of the reference station assembly, the time when the reference station assembly transmits the high frequency acoustic wave signal, and the time when the mobile station receives the high frequency acoustic wave signal transmitted by the reference station assembly comprises:
obtaining a position (X, Y, Z) of the mobile station as follows:
in the above formula, i is belonged to [1, n ∈]N is the total number of reference stations; xiIs the abscissa, Y, of the i-th reference stationiIs the ordinate, Z, of the i-th reference stationiIs the vertical coordinate of the ith reference station, X is the horizontal coordinate of the mobile station, Y is the vertical coordinate of the mobile station, Z is the vertical coordinate of the mobile station, tiTransmitting high frequency acoustic signals for the ith reference stationM, TiV is the propagation speed of the sound wave for the time when the mobile station receives the i-th reference station transmitting the high-frequency sound wave signal.
7. The method of claim 2, wherein each of the reference stations is located outside of a forest area or in a forest area open area, respectively.
8. The method of claim 1, wherein the mobile station is located within a forest area.
9. A high frequency sonic understory positioning system, the system comprising:
the reference station combination device is used for periodically transmitting high-frequency sound wave signals to the forest area; the high-frequency sound wave signals carry the position information of the reference station combination device and the time of transmitting the high-frequency sound wave signals by the reference station combination device;
the mobile station is used for receiving the high-frequency sound wave signals transmitted by the reference station combination device and acquiring the time for receiving the high-frequency sound wave signals transmitted by the reference station combination device;
and the calculating module is used for acquiring the position of the mobile station according to the position information of the reference station combination device, the time of transmitting the high-frequency sound wave signal by the reference station combination device and the time of receiving the high-frequency sound wave signal transmitted by the reference station combination device by the mobile station.
10. The system of claim 9, wherein the reference site combining means comprises: at least three reference stations;
each of the reference stations includes: the system comprises a GPS positioning module, a high-frequency sound wave transmitter and a first precise clock module;
the mobile station includes: a second precision clock module and a high-frequency sound wave receiver.
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| CN107607908A (en) * | 2017-08-15 | 2018-01-19 | 中国科学院光电研究院 | A kind of localization method based on signal time delay feature spatial and temporal distributions |
| US20190250244A1 (en) * | 2018-02-09 | 2019-08-15 | South China University Of Technology | Underwater source node positioning method |
| CN111812586A (en) * | 2020-07-14 | 2020-10-23 | 昆明理工大学 | Method for monitoring motion trail of target object in real time by adopting listening positioning technology |
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