阅读说明：本技术 一种水文现场的远程测量系统及方法 (A kind of long-range survey system and method at hydrology scene ) 是由 喻昕蕾 于 2019-08-21 设计创作，主要内容包括：本发明公开了一种水文现场的远程测量系统及方法,包括：水深测量传感器、卫星定位基站、卫星定位移动站、信号解析单元、通讯单元、云服务器、后台处理系统及无人机平台；水深测量传感器测量水深,卫星定位基站的位置固定并和卫星定位移动站形成动态差分定位；无人机平台承载水深测量传感器及卫星定位移动站；其随水流漂移；卫星定位移动站计算其现场漂移速度；信号解析单元接收测量数据,并将其通过通讯单元发送至云服务器,并接收控制指令；云服务器对测量数据及控制命令进行存储；后台处理系统接收云服务器存储的数据,发送控制指令。通过本发明,实现了水体中测点的坐标、流向、流速、水深的同步远程测量,测验时间长,精度高。(The invention discloses the long-range survey systems and method at a kind of hydrology scene, comprising: Water depth measuring sensor, satellite positioning base station, satellite positioning movement station, signal resolution unit, communication unit, Cloud Server, background processing system and unmanned aerial vehicle platform；Water depth measuring sensor sounds the depth of the water, and the position of satellite positioning base station is fixed and forms dynamic difference with satellite positioning movement station and positions；Unmanned aerial vehicle platform carries Water depth measuring sensor and satellite positioning movement station；It drifts about with water flow；Satellite positioning movement station calculates its live drift velocity；Signal resolution unit receives measurement data, and it is sent to Cloud Server by communication unit, and receive control instruction；Cloud Server stores measurement data and control command；Background processing system receives the data of Cloud Server storage, sends control instruction.Through the invention, the coordinate of measuring point in water body, flow direction, flow velocity, the depth of water are realized and synchronizes long-range measurement, workout time is long, and precision is high.)

1. a kind of long-range survey system at hydrology scene characterized by comprising positioning sounding system, communication system, cloud service Device, background processing system and unmanned aerial vehicle platform；The positioning sounding system includes: Water depth measuring sensor, satellite positioning base It stands and satellite positioning movement station；Wherein,

The unmanned aerial vehicle platform is for carrying the Water depth measuring sensor and the satellite positioning movement station；When needing to carry out When long-range measurement, the unmanned aerial vehicle platform is for flying to target water and dropping to the water surface to carry out measurement；

Be provided with floating body below the unmanned aerial vehicle platform, the floating body for make the unmanned aerial vehicle platform swim in the water surface and with Water flow free synchronization movement, to obtain the target water with the drift velocity of water flow by measuring the unmanned aerial vehicle platform Live flow velocity；

The Water depth measuring sensor obtains bathymetric data for sounding the depth of the water；

The position of the satellite positioning base station is fixed, and the satellite positioning movement station is set on the unmanned aerial vehicle platform, with institute State unmanned aerial vehicle platform movement；Dynamic difference positioning, institute are formed between the satellite positioning base station and the satellite positioning movement station State the scene that satellite positioning movement station is also used to calculate the unmanned aerial vehicle platform of the target water according to dynamic difference location data Drift velocity；

The communication system is set on the unmanned aerial vehicle platform, including signal resolution unit and communication unit；Wherein, signal The data obtained is sent to by resolution unit for receiving dynamic difference location data and bathymetric data by the communication unit The Cloud Server is also used to receive the control instruction of the background processing system by the Cloud Server；；

The scene of dynamic difference location data, unmanned aerial vehicle platform that the Cloud Server is used to send the communication system drifts about The control command of speed, bathymetric data and the background processing system is stored；

The background processing system is used to receive the data of the Cloud Server storage, and it is aobvious to carry out analytical calculation figure to data Show, control instruction is sent to positioning sounding system to control the positioning sounding system and start to test or stop test.

2. the long-range survey system at hydrology scene according to claim 1, which is characterized in that the floating body is less than for density The floating body of water.

3. the long-range survey system at hydrology scene according to claim 2, which is characterized in that the floating body is hollow circle Cylinder, the axis of the cylindrical body and the plane of unmanned aerial vehicle platform are parallel.

4. the long-range survey system at hydrology scene according to claim 3, which is characterized in that the sky of the cylindrical body floating body The volume of center portion point is determined that the load-carrying of the unmanned aerial vehicle platform is heavier by the load-carrying of the unmanned aerial vehicle platform, and the cylindrical body is floating The volume of the hollow parts of body is bigger.

5. the long-range survey system at hydrology scene according to claim 1, which is characterized in that the background processing system is also The live drift velocity of unmanned aerial vehicle platform for storing to the Cloud Server is corrected.

6. the long-range survey system at hydrology scene according to claim 5, which is characterized in that in the background processing system To the corrected method of live drift velocity of Cloud Server storage are as follows: introduce practical flow rate of water flow and unmanned aerial vehicle platform As correction coefficient, the live drift velocity stored in cloud server is relation curve between drift velocity multiplied by correction Count the live flow velocity after being corrected.

7. the long-range survey system at hydrology scene according to any one of claims 1 to 6, which is characterized in that the satellite Locating base station includes: the first satellite positioning unit, the first satellite antenna and first data transmission radio station；Wherein,

First satellite positioning unit is used to receive the first satellite positioning signal by the first satellite antenna；

The first data transmission radio station is connected with first satellite positioning unit, for receiving the first satellite positioning list Data are simultaneously continued in the form of radio signal outwardly broadcast transmission by the satellite positioning signal of member transmission；

The satellite positioning movement station includes: the second satellite positioning unit, the second satellite antenna and the second data transmission radio station； Wherein,

The second data transmission radio station is connected with second satellite positioning unit, for receiving the first data transmission electricity First satellite positioning signal of platform transmission, and send data to second satellite positioning unit；

Second satellite positioning unit receives the second positioning signal by the second satellite antenna, and defends according to obtained first Star positioning signal carries out Differential positioning calculating, obtains high-precision latitude and longitude coordinates.

8. a kind of remote measuring method at hydrology scene, which is characterized in that it is described in any item using claim 1 to 7 The remote measuring method that the long-range survey system at hydrology scene is carried out, comprising the following steps:

S11: control that the unmanned aerial vehicle platform flies to target water and safe falling is in the water surface；

S12: the depth of water of the target water is measured using the Water depth measuring sensor, obtains bathymetric data, and be transferred to logical News system；

S13: dynamic difference location data is obtained using the satellite positioning base station and satellite positioning movement station, and is transferred to institute State communication system；

S14: using communication system by bathymetric data, dynamic difference location data, be transferred to Cloud Server and store, for institute It states background processing system to be checked, handled, the unmanned aerial vehicle platform of the target water is calculated according to dynamic difference location data Live drift velocity；

S15: it controls the unmanned aerial vehicle platform and flies to target to be recycled.

9. the remote measuring method at hydrology scene according to claim 8, which is characterized in that after described in the S14 It includes: to be corrected to live drift velocity that platform processing system, which carries out processing,；Further include:

Analytical calculation is carried out to data, using the relation curve between practical flow rate of water flow and unmanned aerial vehicle platform drift velocity by nothing The drift velocity of man-machine platform is modified to live flow velocity processing.

10. the remote measuring method at hydrology scene according to claim 8, which is characterized in that after described in the S14 It includes: that the flow direction of measuring route and scene is drawn according to dynamic difference location data that platform processing system, which carries out processing,.

Technical field

The present invention relates to hydrologic survey technical field, in particular to a kind of the long-range survey system and method at hydrology scene.

Background technique

Hydrographic features be hydraulic engineering and water environment engineering etc. design, construction and operation management needed for fundamental, The flow velocity of middle water flow and the corresponding depth of water are most important two elements.Currently, the instrument specifically for hydrology emergency monitoring fills Standby less, technical staff mostly uses greatly the polyimides such as ADCP current meter, and manually acquisition monitors number after reaching area to be measured According to however, since the field condition during flood peak and storm tide is complicated and bad environments, it tends to be difficult to carry out.Therefore, situ flow The test of the remote synchronization of speed and the depth of water is problem in various countries' hydrologic survey, needs to research and develop the long-range same of live flow velocity and the depth of water Pacing check system.

Through retrieving, the existing flow velocity measuring system for relying on unmanned plane and method can be divided into water surface contact and hovering Formula.The former unmanned plane contacts the water surface, and flow velocity measures flow velocity by the current meter carried；The unmanned plane of the latter hovers on the water surface Sky, flow velocity pass through the measurement of the tachymeters such as the radar of carrying.Such as application No. is 201711455340.3, a kind of flow measurement unmanned plane is disclosed And flow measurement method, flow measurement unmanned plane include body and the radar flow measurement being installed below body probe, indicator water gage, and It is set to the intracorporal battery modules of machine and control unit, the invention is main to be disadvantageous in that: 1) " control described in the invention The height control unmanned plane hovering height that unit is surveyed according to indicator water gage " can not accurately realize hovering when wind speed is larger； Even if 2) realize and hover when the wind loading rating of unmanned plane is sufficiently strong, but inevasible is that this technology uses radar velocity measurement, Since the unmanned plane of hovering drifts about next time in blowing for wind, so that radar surveying flow velocity is not flow rate of water flow, influence Flow velocity measurement accuracy；3) system of the invention does not provide the function of the geodetic coordinates value of measured point；4) system of the invention does not have There is the function of the synchro measure depth of water, the water depth value at measuring point can not be provided.

In addition, a kind of UAV Intelligent water surface measuring flow quantity through flow velocity system is disclosed, using nothing application No. is 201810587536.6 Water surface flow sensor control system system and water surface flow sensor are carried on man-machine flying platform, it is long-range by ground system Operation, realize the automatic collection of hydrologic monitoring data in the region to be measured that can not be reached to hydrology operating personnel, automatic transmission, Automatic processing analysis.The invention is main to be disadvantageous in that: 1) lacking the geodetic coordinates measurement function of measurement point.2) it only provides Flow velocity measurement, but lack water-depth measurement function.3) system described in the invention needs " to carry water surface flow sensor control system System and water surface flow sensor ", water surface flow velocity are measured by water surface flow sensor, and often weight is big for the sensor, and And it is expensive, therefore, the lifting capacity of unmanned plane is required it is high, once and unmanned plane be damaged in measurement process, whole system Underwater, overall loss height may be buried.4) UAV system as described in the invention is drifted about in water body, water surface flow-velocity sensing What device measured is water flow actual speed and unmanned plane drift velocity, lacks the effect function of flow velocity.

In general, either external or domestic, the velocity measurement equipment of existing overwhelming majority unmanned aerial vehicle platform is Using contactless remote sensing observations, measurement data and physical presence error, especially for silt content is higher or floating material etc. The more waters of Scattering Targets, measurement error are often larger；And unmanned plane is constantly in state of flight in measurement process, measures work Make serious limitation of the time by battery capacity, the actual measurement time is very limited.More outstanding to be, existing method lacks together Pacing amount geodetic coordinates measurement, the depth of water and flow velocity function, the data such as the depth of water, flow direction and measuring route can not be provided.Therefore, anxious Corresponding test device need to be developed.

Summary of the invention

The present invention is directed to above-mentioned problems of the prior art, proposes long-range survey system and the side at a kind of hydrology scene Method realizes the latitude and longitude coordinates, flow direction of measuring point in water body, flow velocity, the depth of water and synchronizes long-range measurement, measurement data real-time network The purpose of transmission, measuring device recycle automatically.

In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

According to the first aspect of the invention, a kind of long-range survey system at hydrology scene is provided comprising: positioning depth measurement system System, communication system, Cloud Server, background processing system and unmanned aerial vehicle platform；The positioning sounding system includes: water-depth measurement Sensor, satellite positioning base station and satellite positioning movement station；Wherein,

The unmanned aerial vehicle platform is for carrying the Water depth measuring sensor and the satellite positioning movement station；Work as needs When remotely being measured, the unmanned aerial vehicle platform is for flying to target water and dropping to the water surface to carry out measurement；

Floating body is provided with below the unmanned aerial vehicle platform, the floating body is for making the unmanned aerial vehicle platform swim in the water surface And moved with water flow free synchronization, to obtain the target water with the drift velocity of water flow by measuring the unmanned aerial vehicle platform The live flow velocity in domain；

The Water depth measuring sensor obtains bathymetric data for sounding the depth of the water；

The position of the satellite positioning base station is fixed, and the satellite positioning movement station is set on the unmanned aerial vehicle platform, It is moved with the unmanned aerial vehicle platform；It is fixed that dynamic difference is formed between the satellite positioning base station and the satellite positioning movement station Position, the satellite positioning movement station are also used to calculate the unmanned aerial vehicle platform of the target water according to dynamic difference location data Live drift velocity；

The communication system is set on the unmanned aerial vehicle platform, including signal resolution unit and communication unit；Wherein, Signal resolution unit is sent out the data obtained by the communication unit for receiving dynamic difference location data and bathymetric data Send the control instruction for being also used to that the background processing system is received by the Cloud Server to the Cloud Server；

The scene of dynamic difference location data, unmanned aerial vehicle platform that the Cloud Server is used to send the communication system The control command of drift velocity, bathymetric data and the background processing system is stored；

The background processing system is used to receive the data of the Cloud Server storage, and carries out analysis meter nomogram to data Shape shows, sends control instruction to positioning sounding system to control the positioning sounding system and start to test or stop test.

Preferably, the floating body is the floating body that density is less than water.

Preferably, the floating body is hollow cylindrical body, the axis of the cylindrical body and the plane of unmanned aerial vehicle platform are parallel.

Preferably, the volume of the hollow parts of the cylindrical body floating body is determined by the load-carrying of the unmanned aerial vehicle platform, it is described The load-carrying of unmanned aerial vehicle platform is heavier, and the volume of the hollow parts of the cylindrical body floating body is bigger.

Preferably, the scene drift for the unmanned aerial vehicle platform that the background processing system is also used to store the Cloud Server Speed is corrected.

Preferably, to the corrected side of live drift velocity of Cloud Server storage in the background processing system Method are as follows: introduce the relation curve between practical flow rate of water flow and unmanned aerial vehicle platform drift velocity as correction coefficient, the cloud clothes Live flow velocity after the live drift velocity that stores is corrected multiplied by correction coefficient in business device.

Preferably, the satellite positioning base station includes: the first satellite positioning unit, the first satellite antenna and the first data Transmission radio station；Wherein,

First satellite positioning unit is used to receive the first satellite positioning signal by the first satellite antenna；

The first data transmission radio station is connected with first satellite positioning unit, for receiving first satellite Data are simultaneously continued in the form of radio signal outwardly broadcast transmission by the satellite positioning signal of bit location transmission；

The satellite positioning movement station includes: the second satellite positioning unit, the second satellite antenna and the transmission of the second data Radio station；Wherein,

The second data transmission radio station is connected with second satellite positioning unit, passes for receiving first data The first satellite positioning signal that platform of transmitting electricity transmits, and send data to second satellite positioning unit；

Second satellite positioning unit receives the second positioning signal by the second satellite antenna, and according to obtained the One satellite positioning signal carries out Differential positioning calculating, obtains high-precision latitude and longitude coordinates.

Preferably, the communication unit is GPRS communication unit.

Preferably, first satellite positioning unit and second satellite positioning unit can receive GPS satellite and lead The B1/B2/B3/L1/L2/G1/ of three sets of navigation system such as boat system, Beidou satellite system and GLONASS satellite navigation system The satellite data of seven frequency ranges such as G2, and satellite antenna is cooperated to be used in conjunction with, light weight small in size, search of satellite, stationkeeping ability By force, it can directly be powered by power supply.

Preferably, the radio station power of the first data transmission radio station and the second data transmission radio station can be according to biography Defeated distance is adjusted, and data transmission is more acurrate, efficiency of transmission is higher.

Preferably, between the satellite positioning movement station and the communication system, and/or, the first satellite positioning list It is first between the first data transmission radio station, and/or, second satellite positioning unit and the second data transmission radio station Between can by serial ports connect carry out data transmission, transmission speed faster, it is more acurrate.

According to the second aspect of the invention, a kind of remote measuring method at hydrology scene is also provided, is using above-mentioned The remote measuring method that long-range survey system carries out, comprising the following steps:

S11: control that the unmanned aerial vehicle platform flies to target water and safe falling is in the water surface；

S12: the depth of water of the target water is measured using the Water depth measuring sensor, obtains bathymetric data, and transmit To communication system；

S13: dynamic difference location data is obtained using the satellite positioning base station and satellite positioning movement station, and is transmitted To the communication system；

S14: using communication system by bathymetric data, dynamic difference location data, be transferred to Cloud Server and store, with It checked, handled for the background processing system, the unmanned plane of the target water is calculated according to dynamic difference location data The live drift velocity of platform；

S15: it controls the unmanned aerial vehicle platform and flies to target to be recycled.

Preferably, it includes: to carry out school to live drift velocity that the background processing system in the S14, which carries out processing, Just；Further include:

Analytical calculation is carried out to data, utilizes the relation curve between practical flow rate of water flow and unmanned aerial vehicle platform drift velocity The drift velocity of unmanned aerial vehicle platform is modified to live flow velocity processing.

Preferably, it includes: to be drawn according to dynamic difference location data that the background processing system in the S14, which carries out processing, The flow direction of measuring route processed and scene.

Compared to the prior art, the invention has the following advantages that

(1) long-range survey system and method at hydrology scene provided by the invention is flat by the unmanned plane for being provided with floating body Platform can drop to the water surface and measure, so that the waters that hydrology operating personnel can not reach becomes to survey；It can be in various poles It replaces manpower to carry out flow measurement depth measurement under conditions of end, complexity, to save human cost, and can avoid various unsafe incidents Generation；Automatic collection, the remote auto transmission, automatic processing analysis for realizing hydrologic survey data, are meeting hydrographic features Disaster disposition department's decision support foundation can be supplied under the premise of emergency monitoring precision with most fast speed；

(2) long-range survey system and method at the hydrology scene of offer of the invention, realizes the earth of measuring point in water body Coordinate, flow direction, flow velocity, the depth of water synchro measure；

(3) long-range survey system and method at the hydrology scene of offer of the invention, stops to fall in mesh by unmanned aerial vehicle platform Mark waters measures, and significantly increases workout time, and realize the contact type flow-speed measurement of unmanned aerial vehicle platform and water body, Measurement data is more acurrate；

(4) long-range survey system and method at the hydrology scene of offer of the invention, by uploading measurement data in real time To Cloud Server, long-range measurement is realized；

(5) long-range survey system and method at the hydrology scene of offer of the invention, passes through satellite positioning base station and satellite It positions and forms dynamic difference positioning between movement station, so that more accurate positioning, measurement accuracy is higher, and measurement means of the invention It is more convenient, it is easy to operate efficient.

Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.

Detailed description of the invention

Embodiments of the present invention are described further with reference to the accompanying drawing:

Fig. 1 is the structural schematic diagram of the long-range survey system at the hydrology scene of one embodiment of the invention；

Fig. 2 is the structural schematic diagram of the long-range survey system at the hydrology scene of a preferred embodiment of the invention；

Fig. 3 is the flow chart of the remote measuring method at the hydrology scene of one embodiment of the invention；

Label declaration: 1- unmanned aerial vehicle platform, 2- floating body, 3- satellite positioning base station, 4- satellite positioning movement station, 5- signal solution Analyse unit, 6-GPRS unit, 7- Water depth measuring sensor, 8- Cloud Server, 9- background processing system；

The first satellite positioning unit of 31-, the first satellite antenna of 32-, 33- first data transmission radio station, the first radio station 34- day Line, the first power supply of 35-；

The second satellite positioning unit of 41-, the second satellite antenna of 42-, 43- the second data transmission radio station, the second radio station 44- day Line, 45- second source.

Specific embodiment

The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention Protection scope.

Fig. 1 show the structural schematic diagram of the long-range survey system at the hydrology scene of one embodiment of the invention.

Referring to FIG. 1, the long-range survey system at the hydrology scene of the present embodiment includes: positioning sounding system, signal resolution Unit 5, GPRS unit 6, Cloud Server 8, background processing system 9 and unmanned aerial vehicle platform 1.Wherein, positioning sounding system includes: Water depth measuring sensor 7, satellite positioning base station 3 and satellite positioning movement station 4.Unmanned aerial vehicle platform 1 is for carrying water-depth measurement Sensor 7 and satellite positioning movement station 4；When needing remotely to be measured, unmanned aerial vehicle platform 1 is for flying to target water And the water surface is dropped to carry out measurement.The lower section of unmanned aerial vehicle platform 1 is provided with floating body 2, and floating body 2 is for floating unmanned aerial vehicle platform It moves in the water surface and with water flow free synchronization to obtain target water with the drift velocity of water flow by measuring unmanned aerial vehicle platform 1 Unmanned aerial vehicle platform 1 live drift velocity, the speed pass through again amendment obtains scene water volume flow rate.Water depth measuring sensor 7, for sounding the depth of the water, obtain bathymetric data.The position of satellite positioning base station 3 is fixed, and satellite positioning movement station 4 is set to nobody On machine platform 1, moved with unmanned aerial vehicle platform 1；It is fixed that dynamic difference is formed between satellite positioning base station 3 and satellite positioning movement station 4 Position, satellite positioning movement station 4 are also used to calculate the scene drift of the unmanned aerial vehicle platform 1 of target water according to dynamic difference location data Move speed.Signal resolution unit 5 and GPRS unit 6, which are set on unmanned aerial vehicle platform 1, forms communication system, signal resolution unit 5 For receiving the dynamic difference location data of satellite positioning movement station, live drift velocity and the Water depth measuring sensor Data are uploaded to Cloud Server by GPRS unit 6, and the control instruction stored in Cloud Server are transmitted to by bathymetric data Sounding system is positioned to execute；The data that Cloud Server 8 is used to upload communication system store；Background processing system 9 It is taken for receiving the data of the storage of Cloud Server 8 and carrying out analytical calculation with the results show that control command is uploaded to cloud simultaneously Business device.

In order to preferably guarantee that unmanned aerial vehicle platform landing safety and stability on the water surface is not toppled, in the present embodiment, floating body is Hollow cylindrical body floating body, the axis of cylindrical body floating body and the plane of unmanned aerial vehicle platform are parallel, and centre perforation can be such that water body floods, It is able to maintain that the center of unmanned aerial vehicle platform 1 is more stable.

In the present embodiment, hollow parts are cylindrical structure, and in different embodiments, hollow parts are the volume penetrated through, ruler Very little, shape can be adjusted.In preferred embodiment, the volume of hollow parts is determined by the load-carrying of unmanned aerial vehicle platform, load-carrying Heavier, the volume of hollow parts is bigger, can be by adjusting the diameters of hollow parts, can also be by adjusting length, can also be with Achieve the purpose that adjust volume by adjustable shape, the diameter of the solid section of corresponding floating body, length, shape can also be into Row is adjusted, and can use the production of the materials such as high density pearl cotton.

In the present embodiment, the quantity of floating body 2 is two, in different embodiments, or one or more.

In preferred embodiment, floating body 2 is made of high intensity PMI foamed material.

In preferred embodiment, background processing system 9 is also used to be corrected the live flow velocity that Cloud Server 8 stores.Tool Body, can be with are as follows: introduces correction coefficient (being obtained by test measurement), scene drift velocity stored in cloud server is multiplied by correction Coefficient then corrected after live flow velocity.In one embodiment, the preparation method of correction coefficient are as follows: adjusted in laboratory sink The unmanned aerial vehicle platform of good floating body can stablize drift in water flow, then carry out measurement of comparison test, measure flow rate of water flow With unmanned aerial vehicle platform drift velocity, point draws the relation curve of the two, obtains flow rate correction coefficient.

In preferred embodiment, satellite positioning base station 3 includes: the first satellite positioning unit 31, the first satellite antenna 32, first Data transmission radio station 33, the first radio antenna 34 and the first power supply 35；Satellite positioning movement station includes: the second satellite positioning list First 41, second satellite antenna 42, the second data transmission radio station 43, the second radio antenna 44 and second source 45, structure is shown It is intended to as shown in Figure 2.Wherein, the first satellite positioning unit 31 is used to receive the first satellite positioning letter by the first satellite antenna 32 Number；First data transmission radio station 33 is connected with the first satellite positioning unit 31, for receiving the transmission of the first satellite positioning unit 31 Satellite positioning signal, the first power supply 35 is used to power for the first satellite positioning unit 31 and first data transmission radio station 33. First radio antenna 34 is connected with first data transmission radio station 33, the second radio antenna 44 and 43 phase of the second data transmission radio station Even, the second data transmission radio station 43 is used to receive first data transmission by the second radio antenna 44 and the first radio antenna 34 The first satellite positioning signal that radio station 33 is transmitted；Second satellite positioning unit 41 is connected with the second data transmission radio station 43, is used for The second positioning signal is received by the second satellite antenna 42, is also used to receive the first satellite of the second data transmission radio station 43 transmission Positioning signal obtains the geodetic coordinates (longitude and latitude) of unmanned aerial vehicle platform 1, and is believed according to the first satellite positioning signal the second positioning Number carry out dynamic difference calculating, the dynamic difference positioning signal after obtaining Difference Calculation；Second source 45 is used to be the second satellite Positioning unit 41 and the power supply of the second data transmission radio station 43.

In preferred embodiment, communication system uses GPRS communication system.

In preferred embodiment, the first satellite positioning unit 31 and the second satellite positioning unit 41 can receive GPS satellite Navigation system, Beidou satellite system and GLONASS satellite guidance system data, and satellite antenna is cooperated to be used in conjunction with, volume Small light weight, search of satellite, stationkeeping ability are strong, can directly be powered by power supply.

In preferred embodiment, between first data transmission radio station 33 and the second data transmission radio station 43 using radio into The transmission of row data, radio station power can be adjusted according to the distance of transmission range, and data transmission is more acurrate, efficiency of transmission is higher.

In preferred embodiment, between satellite positioning movement station 4 and communication system 6, and/or, the first satellite positioning unit 31 Between first data transmission radio station 33, and/or, it can be between the second satellite positioning unit 41 and the second data transmission radio station 43 By serial ports connection carry out data transmission, transmission speed faster, it is more acurrate.

It is illustrated in figure 3 the flow chart of the remote measuring method at the hydrology scene of one embodiment of the invention.

Referring to FIG. 3, the remote measuring method of the present embodiment be based on the above embodiment in long-range survey system survey Amount method comprising following steps:

S11: control unmanned aerial vehicle platform flies to target water and safe falling is in the water surface；

S12: measuring the depth of water of the target water using Water depth measuring sensor, obtains bathymetric data, and is transferred to logical News system；

S13: the geodetic coordinates and dynamic of unmanned aerial vehicle platform are obtained using satellite positioning base station and satellite positioning movement station Differential positioning data, unmanned plane drift about with water (flow) direction free and stable, after certain distance to be moved, calculate unmanned aerial vehicle platform fortune Dynamic mean flow rate, and it is transferred to communication system；

S14: bathymetric data, dynamic difference location data and mean flow rate are transferred to by Cloud Server using communication system It is stored, so that background processing system is checked and/or is handled；

S15: control unmanned aerial vehicle platform flies to target to be recycled.

In preferred embodiment, the background processing system in S14 carries out the analytical calculation that processing includes: data, live flow velocity Correction and the processing such as graphical display.；Further include: introducing correction coefficient, mean flow rate obtains school multiplied by correction coefficient Live flow velocity after just.In one embodiment, the preparation method of correction coefficient are as follows: nobody of floating body is adjusted in laboratory sink Machine platform can stablize drift in water flow, then carry out measurement of comparison test and obtain flow rate correction coefficient.

In preferred embodiment, it includes: according to dynamic difference location data that the background processing system in S14, which carries out processing, Draw measuring route and flow direction.

In above-described embodiment, background processing system 9 can be with are as follows: computer, I pad, mobile phone etc..

The long-range survey system and method at the hydrology scene in based on the above embodiment, specific application example presented below, To further understand technical solution of the present invention.

Application example 1

The river that the present embodiment is flow rate of water flow 1m/s carries out the remote synchronization test of live flow velocity and the depth of water, and use is above-mentioned System in embodiment.Wherein,

Unmanned aerial vehicle platform 1 is four rotary propeller type unmanned planes, take-off weight 3.5kg, unmanned plane gross weight 2kg.

Floating body 2 is made by high-strength foam, is in hollow cylinder section, interior hollow circular diameter 5cm, outer diameter 11cm are long 50cm。

Satellite positioning unit mainly relies on Beidou Navigation System to carry out positioning measurement, and Differential positioning precision is better than 1cm.

Satellite antenna uses rodlike satellite antenna, diameter 1cm, long 15cm.

Data transmission radio station transmission range is within the scope of 2km.

Radio antenna uses bar antenna, diameter 1cm, length 10cm.

Power supply is rechargeable lithium battery, exportable 24V, 12V, 5V DC voltage.

Signal resolution unit size is long 6cm, wide 7cm.

GPRS communication unit carries out network communication using mobile 4G flow card.

Water depth measuring sensor measuring range is 0-50m.

Cloud Server uses Ali's cloud Li nux light weight server.

Locating base station, positioning movement station, the connection of GPRS communication system are completed, and locating base station be fixed on a certain first At position；By control unmanned aerial vehicle platform 1 flight to target water and safe falling is in water surface progress contact type measurement, and it is fixed to open Position sounding system carries out Differential positioning and water-depth measurement；Thereafter unmanned plane drifts about with water flow movement direction free and stable, to be moved After certain distance, the satellite positioning movement station 4 for positioning sounding system calculates the mean flow rate of water flow movement and is led to by GPRS News system is uploaded to Cloud Server 8 and checks data for downloaded, and unmanned plane can be transported with water flow free synchronization in measurement process It is dynamic, unmanned aerial vehicle platform is controlled after measurement to be recycled automatically.

The unmanned aerial vehicle platform of floating body is adjusted in laboratory sink, can be stablized drift in water flow, then be opened It opens up measurement of comparison test and obtains flow rate correction coefficient 1.15~1.21, the mean flow rate of water flow movement is then equal to flow rate correction coefficient 1.15~1.21 with water flow drift velocity product.Simultaneously under computer networking state, it is long-range to open background processing system 9 Check the current geodetic coordinates position of equipment, measurement track, current measurement flow velocity size and flow direction, Water Depth Information etc..

Application example 2

The present embodiment provides the remote synchronization test of live flow velocity and the depth of water for the river of flow rate of water flow 3m/s, and use is above-mentioned System in embodiment.Wherein,

Unmanned aerial vehicle platform 1 is four rotary propeller type unmanned planes, take-off weight 5.5kg, unmanned plane gross weight 4kg.

Floating body 2 is made by high-strength foam, is in hollow cylinder section, interior hollow circular diameter 8cm, outer diameter 15cm are long 60cm。

Satellite positioning unit mainly relies on GPS navigation system to carry out positioning measurement, and Differential positioning precision is better than 1cm.

Satellite antenna uses mushroom satellite surveying and mapping antenna, long 7cm, wide 5cm, high 4cm.

Data transmission radio station transmission range is within the scope of 6km.

Radio antenna uses cylindrical screw antenna, diameter 3cm, length 15cm, and band is magnetic chassis.

Water depth measuring sensor measuring range is 0-100m.

The other component is identical as used unit in above-described embodiment 1.

Its course of work is will to position sounding system (including locating base station, positioning movement station), GPRS communication system first Connection is completed, and locating base station is fixed at a certain position；Pass through control unmanned plane during flying to target water and safe falling Contact type measurement is carried out in the water surface, positioning sounding system is opened and carries out Differential positioning and water-depth measurement；Thereafter unmanned plane is with water flow Direction of motion free and stable is drifted about, and after certain distance to be moved, the positioning movement station for positioning sounding system calculates water flow movement Mean flow rate and Cloud Server be uploaded to by GPRS communication system check data for downloaded, in measurement process nobody Machine can be moved with water flow free synchronization, and unmanned aerial vehicle platform is controlled after measurement and is recycled automatically.

The unmanned aerial vehicle platform of floating body is adjusted in laboratory sink, can be stablized drift in water flow, then be opened Open up measurement of comparison test obtain flow rate correction coefficient 1.23, the mean flow rate of water flow movement be then equal to flow rate correction coefficient 1.23 with With the product of water flow drift velocity；Simultaneously under computer networking state, opens remote software and check equipment current location, measurement Track, flow velocity size and Orientation, currently sound the depth of the water information.

Above-mentioned two application example realizes flow velocity 1m/s, 3m/s, the same pacing of flow velocity, the depth of water within the scope of depth of water 100m Amount；The terminal of measuring route, measurement flow velocity and Water Depth Information shows that measurement data real-time network transmits；When measurement without The man-machine grounding saves electricity to significantly increase workout time；The contact type flow-speed measurement of unmanned aerial vehicle platform and water body is realized, And data can be uploaded in real time to Cloud Server, realize long-range measurement；Measurement accuracy is higher, and measurement means are more convenient, operation It is simple and efficient.

From above-described embodiment as can be seen that the water that reach hydrology operating personnel can not using technical solution of the present invention Domain becomes to survey；Manpower can be replaced to carry out flow measurement depth measurement under conditions of various extreme, complicated, so that human cost is saved, And it can avoid the generation of various unsafe incidents；Realize automatic collection, the remote auto transmission, automatic place of hydrologic survey data Reason analysis can be supplied to disaster disposition department with most fast speed under the premise of meeting hydrographic features emergency monitoring precision and be determined Plan supports foundation.

Disclosed herein is merely a preferred embodiment of the present invention, these embodiments are chosen and specifically described to this specification, is Principle and practical application in order to better explain the present invention is not limitation of the invention.Anyone skilled in the art The modifications and variations done within the scope of specification should all be fallen in the range of of the invention protect.