阅读说明：本技术 一种基于无人机自组网的地表形变应急监测预警方法 (Surface deformation emergency monitoring and early warning method based on unmanned aerial vehicle ad hoc network ) 是由 何成龙 蔚保国 韩双林 盛传贞 陈宝林 于 2021-09-09 设计创作，主要内容包括：本发明公开了一种基于无人机自组网的地表形变应急监测预警方法,属于导航定位技术领域。其包括以下步骤：在无人机上安装应用载荷模块；在趋近于被监测区域外的场地,将一架无人机应用载荷模块开启供电；开启其它无人机供电并在无人机间建立自组网；控制其它无人机飞行并降落到待监测区域的预定位置；被监测区域的各个无人机通过自组网接收信息获取卫星导航差分定位信息；将自身的差分定位结果传送至控制站；控制站对被监测区域各个无人机的定位数据进行统计,当某架无人机的定位值偏移量超出预定门限时发出预警信息。本方法可解决非预期灾害区域的短时监测预警需要,对受灾环境的地表土石结构、人工建筑物形变实施监测预警具有重要意义。(The invention discloses an emergency monitoring and early warning method for ground surface deformation based on an unmanned aerial vehicle ad hoc network, and belongs to the technical field of navigation and positioning. Which comprises the following steps: installing an application load module on the unmanned aerial vehicle; starting a load application module of an unmanned aerial vehicle to supply power in a place approaching to the outside of a monitored area; starting other unmanned aerial vehicles to supply power and establishing an ad hoc network between the unmanned aerial vehicles; controlling other unmanned aerial vehicles to fly and land to a preset position of an area to be monitored; each unmanned aerial vehicle in the monitored area receives information through an ad hoc network to acquire satellite navigation differential positioning information; transmitting the differential positioning result of the self-body to a control station; the control station counts the positioning data of each unmanned aerial vehicle in the monitored area, and sends out early warning information when the offset of the positioning value of a certain unmanned aerial vehicle exceeds a preset threshold. The method can meet the requirement of short-time monitoring and early warning in an unexpected disaster area, and has important significance in monitoring and early warning of earth surface earth-rock structures and artificial building deformation in a disaster-affected environment.)

1. An emergency monitoring and early warning method for surface deformation based on an unmanned aerial vehicle ad hoc network is characterized by comprising the following steps:

(1) an application load module is installed on the unmanned aerial vehicle, and the module comprises a satellite navigation differential receiving unit, an ultra-wideband ranging unit, a mobile communication ad hoc network unit, a data processing unit, a power supply unit and a wired data interface; the satellite navigation differential receiving unit is used for receiving satellite navigation signals, satellite bases and ground differential information, and realizing carrier differential positioning and generating local differential information by using the differential information; the ultra-wideband ranging unit realizes wireless ranging between unmanned aerial vehicles through a three-way measuring process; the mobile communication ad hoc network unit is used for establishing a communication network among all the unmanned aerial vehicles to realize communication interaction between the control station and the unmanned aerial vehicles; the data processing unit is used for realizing ad hoc network construction, communication content control, power-on and dormancy control of each unit and man-machine control interaction; the power supply unit is used for supplying power to each module, and the power supply source comprises a load self-contained battery and an unmanned aerial vehicle battery; the wired data interface is used for data communication between the unmanned aerial vehicle and the control station;

(2) in an open field approaching to the outside of a monitored area, an application load module A of an unmanned aerial vehicle is powered on, placed statically, landed at a preset position or hovered in the air, connected with a control station through a wired data interface or a wireless communication link, and used for observing whether differential positioning is finished or not through control station software and generating local differential data;

(3) after the application load module A finishes positioning and generates local differential data, starting other unmanned aerial vehicles to supply power, starting to establish an ad hoc network among all the unmanned aerial vehicles, and observing whether the application load modules of all the unmanned aerial vehicles finish networking through a control station;

(4) after networking is finished, except the unmanned aerial vehicle carrying the application load module A, controlling other unmanned aerial vehicles to fly and land to a preset position of an area to be monitored, enabling all the unmanned aerial vehicles to be stably attached to the ground, and ensuring that each unmanned aerial vehicle is in an ad hoc network through the set preset position and landing control;

(5) each unmanned aerial vehicle in the monitored area receives local differential information transmitted by the application load module A through the ad hoc network, and detects the common-view satellite number of the application load module A based on a navigation satellite used for self positioning: if the number of the common-view satellites is not less than 6, positioning is achieved through local differential information sent by the load module A; if the number of the common-view satellites is less than 6, starting and awakening a local ultra-wideband ranging unit, sending a broadcasting demand through an ad-hoc network, starting and awakening the ultra-wideband ranging unit by an adjacent unmanned aerial vehicle capable of ensuring line-of-sight measurement, and acquiring ranging information between the adjacent unmanned aerial vehicle and the adjacent unmanned aerial vehicle in a three-way measurement mode;

(6) each unmanned aerial vehicle in the monitored area gathers and transmits a differential positioning result or ultra-wideband ranging information of the unmanned aerial vehicle to an application load module A through an ad hoc network, and then transmits the gathered result or ultra-wideband ranging information to a control station;

(7) the control station carries out real-time statistical monitoring on the positioning or ranging data of each unmanned aerial vehicle in the monitored area, and when the offset of the positioning value or ranging value of a certain unmanned aerial vehicle exceeds a preset threshold, early warning information is sent out, so that the fact that the corresponding point position of the monitored area where the unmanned aerial vehicle is located is seriously deformed is shown.

Technical Field

The invention belongs to the technical field of navigation and positioning, and particularly relates to an emergency monitoring and early warning method for surface deformation based on an unmanned aerial vehicle ad hoc network.

Background

Geological disasters, rain and snow disasters and storm disasters bring serious threats to human life safety and life and production, particularly landslide, avalanche, dam break, collapse and other disasters have the characteristics of strong outburst and high destructiveness, and therefore a technical means capable of accurately monitoring and early warning deformation of earth and rockfill structures and artificial buildings on the ground in real time is needed. The current deformation monitoring generally adopts the ground satellite navigation differential receiver fixed station set in the tested surface environment, the mm-level positioning capability is realized through the differential technology, the early warning information is sent out through a mobile communication network when the micro deformation displacement occurs, the evacuation time is created before serious landslide or building damage occurs, and the method is successfully applied to landslide easy-to-occur areas, large hydroelectric dams and the like. However, in disaster-stricken environments where fixed stations cannot be installed in advance, such as mountains in earthquake disaster areas, small dams in flood disasters, and most of urban buildings, when monitoring is needed in a disaster, personnel field installation conditions are not met, or mobile communication is interrupted, so that a monitoring and early warning means capable of being quickly arranged and applied in a disaster field is needed.

Disclosure of Invention

The invention aims to provide an emergency monitoring and early warning method for ground surface deformation based on an unmanned aerial vehicle ad hoc network. The method can be used for the application scene that a satellite navigation differential receiver fixed station cannot be pre-installed, personnel field installation conditions are not available or mobile communication interruption is not available, and real-time monitoring and early warning of earth and rockfill structures and artificial building deformation are achieved by using an unmanned aerial vehicle platform, a communication ad hoc network and ultra wide band ranging.

In order to achieve the purpose, the invention adopts the technical scheme that:

an emergency monitoring and early warning method for surface deformation based on an unmanned aerial vehicle ad hoc network comprises the following steps:

(1) an application load module is installed on the unmanned aerial vehicle, and the module comprises a satellite navigation differential receiving unit, an ultra-wideband ranging unit, a mobile communication ad hoc network unit, a data processing unit, a power supply unit and a wired data interface; the satellite navigation differential receiving unit is used for receiving satellite navigation signals, satellite bases and ground differential information, and realizing carrier differential positioning and generating local differential information by using the differential information; the ultra-wideband ranging unit realizes wireless ranging between unmanned aerial vehicles through a three-way measuring process; the mobile communication ad hoc network unit is used for establishing a communication network among all the unmanned aerial vehicles to realize communication interaction between the control station and the unmanned aerial vehicles; the data processing unit is used for realizing ad hoc network construction, communication content control, power-on and dormancy control of each unit and man-machine control interaction; the power supply unit is used for supplying power to each module, and the power supply source comprises a load self-contained battery and an unmanned aerial vehicle battery; the wired data interface is used for data communication between the unmanned aerial vehicle and the control station;

(2) in an open field approaching to the outside of a monitored area, an application load module 1 of an unmanned aerial vehicle is powered on, is statically placed and landed at a preset position or hovers in the air, is connected with a control station through a wired data interface or a wireless communication link, and is used for observing whether differential positioning is finished or not through control station software and generating local differential data;

(3) after the application load module 1 finishes positioning and generates local differential data, starting other unmanned aerial vehicles to supply power, starting to establish an ad hoc network among all the unmanned aerial vehicles, and observing whether the application load modules of all the unmanned aerial vehicles finish networking through a control station;

(4) after networking is finished, except the unmanned aerial vehicle carrying the application load module 1, controlling other unmanned aerial vehicles to fly and land to a preset position of an area to be monitored, enabling all the unmanned aerial vehicles to be stably attached to the ground, and ensuring that each unmanned aerial vehicle is in an ad hoc network through the set preset position and landing control;

(5) each unmanned aerial vehicle in the monitored area receives local differential information transmitted by the application load module 1 through the ad hoc network, and detects the common-view satellite number of the application load module 1 based on a navigation satellite used for self positioning: if the number of the common vision satellites is not less than 6, positioning is achieved through local differential information sent by the application load module 1; if the number of the common-view satellites is less than 6, starting and awakening a local ultra-wideband ranging unit, sending a broadcasting demand through an ad-hoc network, starting and awakening the ultra-wideband ranging unit by an adjacent unmanned aerial vehicle capable of ensuring line-of-sight measurement, and acquiring ranging information between the adjacent unmanned aerial vehicle and the adjacent unmanned aerial vehicle in a three-way measurement mode;

(6) each unmanned aerial vehicle in the monitored area gathers and transmits a differential positioning result or ultra-wideband ranging information of the unmanned aerial vehicle to the application load module 1 through the ad hoc network, and then transmits the gathered result or ultra-wideband ranging information to the control station;

(7) the control station carries out real-time statistical monitoring on the positioning or ranging data of each unmanned aerial vehicle in the monitored area, and when the offset of the positioning value or ranging value of a certain unmanned aerial vehicle exceeds a preset threshold, early warning information is sent out, so that the fact that the corresponding point position of the monitored area where the unmanned aerial vehicle is located is seriously deformed is shown.

Compared with the prior art, the invention has the following beneficial effects:

1. the short-time monitoring and early warning requirements of unexpected disaster areas can be met.

Because many areas with serious disasters are not disaster-prone areas historically, differential monitoring sites which are fixed on the ground and are applied for a long time cannot be installed in advance, the unmanned aerial vehicle carries a rigidly connected load to land in a preset area and carries out monitoring and early warning, the ground facility construction period is not needed, the unmanned aerial vehicle has the advantage of being quickly laid and applied, and the short-time monitoring and early warning requirements in most outdoor environments can be met.

2. The monitoring and early warning requirements of scenes that personnel are difficult to reach and mobile communication is lost can be met.

By arranging the unmanned aerial vehicles, the unmanned aerial vehicles can be applied after landing, and application requirements of high-risk environments or people which are difficult to reach can be met; meanwhile, monitoring information is transmitted by means of an unmanned aerial vehicle communication ad hoc network, and the method is independent of communication infrastructure and applicable to corresponding disaster situation complex scenes.

In a word, the invention designs an emergency monitoring and early warning method for ground surface deformation based on an unmanned aerial vehicle ad hoc network aiming at the requirements of rapid and real-time accurate monitoring and early warning for the deformation of ground surface earth-rock structures and artificial buildings under disaster conditions. It carries the receiver that can receive star base or ground difference data through unmanned aerial vehicle, and one is put up as the reference station, and all the other flights and descend the position that needs the monitoring, and the range finding between partial unmanned aerial vehicle is realized to the super wide band based on the satellite navigation signal looks the situation altogether between unmanned aerial vehicle, and all unmanned aerial vehicles constitute communication ad hoc network and will satellite navigation difference location and range finding information transmission to control station, differentiate deformation state and make the early warning according to each node information.

Drawings

Fig. 1 is a schematic application diagram of an emergency monitoring and early warning method for surface deformation in an embodiment of the present invention.

Detailed Description

The invention is further described with reference to the following figures and detailed description.

An emergency monitoring and early warning method for surface deformation based on an unmanned aerial vehicle ad hoc network comprises the following steps:

(1) an application load module is installed on the unmanned aerial vehicle, and the module comprises a satellite navigation differential receiving unit, an ultra-wideband ranging unit, a mobile communication ad hoc network unit, a data processing unit, a power supply unit and a wired data interface. The satellite navigation differential receiving unit can receive satellite navigation signals, satellite base and ground differential information, and can utilize the differential information to realize carrier differential positioning and generate local differential information; the ultra-wideband ranging unit can realize wireless ranging between unmanned aerial vehicles through a three-way measuring process; the mobile communication ad hoc network unit is used for establishing a communication network among all the unmanned aerial vehicles to realize communication interaction between the control station and the unmanned aerial vehicles; the data processing unit is used for realizing ad hoc network construction, communication content control, power-on and dormancy control of each unit and man-machine control interaction; the power supply unit is used for supplying power to the on-line module, and the power supply source comprises a load self-contained battery and an unmanned aerial vehicle battery; the wired data interface is used for data communication between the unmanned aerial vehicle and the control station;

(2) in an open field approaching to the outside of a monitored area, an unmanned aerial vehicle application load module (called as a module 1) is powered on, is statically placed and landed at a preset position or hovers in the air, is connected with a control station through a wired data interface or a wireless communication link, and is used for observing whether differential positioning is finished or not through control station software and generating local differential data;

(3) after the module 1 finishes positioning and generates local differential data, other modules are startedn-1 drone supplies power and starts to build an ad hoc network among all drones, where the application load modules of the other drones are called modules 2-2nBy observation of a control stationnWhether networking of each module is finished or not;

(4) after networking is finished, except the unmanned aerial vehicle carrying the module 1, controlling other unmanned aerial vehicles to fly and land to a preset position of an area to be monitored, enabling all the unmanned aerial vehicles to be stably attached to the ground, and ensuring that each unmanned aerial vehicle is in an ad hoc network through the set preset position and landing control;

(5) local differential information is sent by each unmanned aerial vehicle in the monitored area through the ad hoc network receiving module 1, and the common-view satellite number of the module 1 is detected based on a navigation satellite used for self positioning: if the number of the modules is not less than 6, the positioning is realized through the local differential information transmitted by the module 1; if the number of the unmanned aerial vehicles is less than 6, starting and awakening a local ultra-wideband ranging unit, sending a broadcasting demand through an ad hoc network, starting and awakening the ultra-wideband ranging unit by an adjacent unmanned aerial vehicle capable of ensuring line-of-sight measurement, and acquiring ranging information between the adjacent unmanned aerial vehicle and the adjacent unmanned aerial vehicle in a three-way measurement mode;

(6) each unmanned aerial vehicle in the monitored area gathers and transmits a differential positioning result or ultra-wideband ranging information of the unmanned aerial vehicle to a module 1 through an ad hoc network, and then transmits the gathered result or ultra-wideband ranging information to a control station;

(7) the control station carries out real-time statistical monitoring on the positioning or ranging data of each unmanned aerial vehicle in the monitored area, and when the offset of the positioning value or ranging value of a certain unmanned aerial vehicle exceeds a preset threshold, early warning information is sent out, so that the fact that the corresponding point position of the monitored area where the unmanned aerial vehicle is located is seriously deformed is shown.

Further, the control station is a device capable of communicating with the application load module and provided with monitoring and early warning software, and the form of the control station includes, but is not limited to, a computer, a handheld device, a rack device, a mobile phone, a tablet and the like.

Fig. 1 is an application schematic diagram of an emergency monitoring and early warning method for surface deformation based on an unmanned aerial vehicle ad hoc network. The method can be used for the application scene that a satellite navigation differential receiver fixed station cannot be pre-installed, personnel field installation conditions are not available or mobile communication interruption is not available, and real-time monitoring and early warning of earth and rockfill structures and artificial building deformation are achieved by using an unmanned aerial vehicle platform, a communication ad hoc network and ultra wide band ranging. Taking the monitoring and early warning of landslide in earthquake areas as an example, the implementation steps are described in detail as follows:

(1) an application load module is installed on the unmanned aerial vehicle, and the module comprises a satellite navigation differential receiving unit, an ultra-wideband ranging unit, a mobile communication ad hoc network unit, a data processing unit, a power supply unit and a wired data interface. The satellite navigation differential receiving unit can receive satellite navigation signals, satellite base and ground differential information, and can utilize the differential information to realize carrier differential positioning and generate local differential information; the ultra-wideband ranging unit can realize wireless ranging between unmanned aerial vehicles through a three-way measuring process; the mobile communication ad hoc network unit is used for establishing a communication network among all the unmanned aerial vehicles to realize communication interaction between the control station and the unmanned aerial vehicles; the data processing unit is used for realizing ad hoc network construction, communication content control, power-on and dormancy control of each unit and man-machine control interaction; the power supply unit is used for supplying power to the on-line module, and the power supply source comprises a load self-contained battery and an unmanned aerial vehicle battery; the wired data interface is used for data communication between the unmanned aerial vehicle and the control station;

(2) in an open place approaching to a monitored mountain and needing to be guaranteed not to be in a potential mountain landslide range, starting a load application module (called as a module 1) of an unmanned aerial vehicle for supplying power, statically placing the load application module, landing the load application module at a preset position or hovering the load application module in the air, connecting the load application module with a control station through a wired data interface or a wireless communication link, and observing whether differential positioning is finished or not through software of the control station and generating local differential data;

（3) After the module 1 finishes positioning and generates local differential data, other modules are startedn-1 drone supplies power and starts to build an ad hoc network among all drones, where the application load modules of the other drones are called modules 2-2nBy observation of a control stationnWhether networking of each module is finished or not;

(4) after networking is finished, except the unmanned aerial vehicle carrying the module 1, controlling other unmanned aerial vehicles to fly and land to a preset monitoring position of a potential landslide area of a mountain, enabling all the unmanned aerial vehicles to be stably attached to the ground, and ensuring that each unmanned aerial vehicle is in an ad hoc network through the set preset position and landing control;

(5) each unmanned aerial vehicle in the potential landslide area receives local differential information broadcasted by the module 1 through the ad hoc network, and detects the number of common-view satellites with the module 1 based on a navigation satellite used for self-positioning: if the number of the modules is not less than 6, the positioning is realized through the local differential information transmitted by the module 1; if the number of the unmanned aerial vehicles is less than 6, starting and awakening a local ultra-wideband ranging unit, sending a broadcasting demand through an ad hoc network, starting and awakening the ultra-wideband ranging unit by an adjacent unmanned aerial vehicle capable of ensuring line-of-sight measurement, and acquiring ranging information between the adjacent unmanned aerial vehicle and the adjacent unmanned aerial vehicle in a three-way measurement mode;

(6) each unmanned aerial vehicle in the potential landslide area gathers and transmits a differential positioning result or ultra wide band ranging information of the unmanned aerial vehicle to the module 1 through the ad hoc network, and then transmits the gathered result or ultra wide band ranging information to the control station;

(7) the control station carries out real-time statistical monitoring on positioning or ranging data of all unmanned aerial vehicles in the potential landslide area, focuses on parameters such as change of relative positioning values between returned positioning information and the module 1, change of relative difference values between returned positioning information, statistical mean values and variances of ultra-wideband ranging values and the like of all unmanned aerial vehicles, and sends out early warning information when the parameters exceed a preset threshold, so that the situation that corresponding points of the potential landslide area where the unmanned aerial vehicles are located are seriously deformed and have landslide risks is shown.

In a word, the method can meet the short-time monitoring and early warning requirements of unexpected disaster areas and the monitoring and early warning requirements of scenes that personnel are difficult to reach and mobile communication is lost.

The method can be used for the application scene that a satellite navigation differential receiver fixed station cannot be pre-installed, personnel field installation conditions are not available or mobile communication interruption is not available, and real-time monitoring and early warning of earth and rockfill structures and artificial building deformation are achieved by using an unmanned aerial vehicle platform, a communication ad hoc network and ultra wide band ranging.