阅读说明：本技术 一种基于北斗的振动感知无人岛礁监测系统 (Vibration perception unmanned island reef monitoring system based on Beidou ) 是由 周求湛 贺琦 胡继康 陈禹竺 鲍雪 于 2020-06-05 设计创作，主要内容包括：本发明的一种基于北斗的振动感知无人岛礁监测系统,属于智能监测技术领域。前置感知系统、前置中继北斗通信系统均设有多个,且多个前置感知系统和多个前置中继北斗通信系统一一对应构成多个前置系统,每个前置系统均与无人岛礁监测终端系统和无人岛礁监测协同交互系统信息互通,无人岛礁监测终端系统与入侵态势实时显示系统连接,无人岛礁监测协同交互系统与无人机系统信息互通。本发明实现了同时对广域范围内多个无人岛礁全时段无间断的智能监测,提供了无人状态下保持系统高续航性和高实时性兼具的解决方案,解决了无人岛礁与大陆超远距离的无线通信及入侵定位问题,增强了无人岛礁生态环境保护和监测的能力。(The invention discloses a vibration sensing unmanned island monitoring system based on Beidou, and belongs to the technical field of intelligent monitoring. The front sensing system and the front relay Beidou communication system are provided with a plurality of systems, the front sensing systems and the front relay Beidou communication systems form a plurality of front systems in a one-to-one correspondence mode, each front system is communicated with the unmanned island reef monitoring terminal system and the unmanned island reef monitoring cooperative interaction system in an information mode, the unmanned island reef monitoring terminal system is connected with the intrusion situation real-time display system, and the unmanned island reef monitoring cooperative interaction system is communicated with the unmanned aerial vehicle system in an information mode. The invention realizes the full-time uninterrupted intelligent monitoring of a plurality of unmanned island reefs in a wide area, provides a solution for keeping the high cruising ability and the high real-time property of the system under the unmanned state, solves the problems of the ultra-long distance wireless communication and the invasion positioning of the unmanned island reefs and the continent, and enhances the capability of protecting and monitoring the ecological environment of the unmanned island reefs.)

1. The utility model provides a vibration perception unmanned island reef monitoring system based on big dipper, a serial communication port, monitoring system includes leading perception system, leading relay big dipper communication system, unmanned island reef monitoring terminal system, unmanned island reef monitoring interaction system in coordination, unmanned aerial vehicle system and invasion situation real-time display system, leading perception system, leading relay big dipper communication system all are equipped with a plurality ofly, and a plurality of leading perception system and a plurality of leading relay big dipper communication system one-to-one constitutes a plurality of leading systems, every leading system all with unmanned island reef monitoring terminal system with unmanned island reef monitoring interaction system information intercommunication in coordination, unmanned island reef monitoring terminal system with invasion situation real-time display system connects, unmanned island reef monitoring interaction system with unmanned aerial vehicle system information intercommunication.

2. The Beidou based vibration sensing unmanned island reef monitoring system of claim 1,

the front sensing system is used for acquiring vibration sensing signals, judging whether the intrusion happens or not and uploading intrusion alarm information with Beidou positioning information to the front relay Beidou communication system;

the front relay Beidou communication system is used for receiving intrusion alarm information with Beidou positioning information generated by the front sensing system and sending the intrusion alarm information to the unmanned island and reef monitoring cooperative interaction system;

the unmanned island reef monitoring collaborative interaction system is used for information interaction of the front-end system, the unmanned island reef monitoring terminal system and the unmanned aerial vehicle system;

the unmanned island reef monitoring terminal system is used for monitoring the state of the invasion situation and the state of the whole monitoring system, interacting system information and assisting decision making;

the unmanned aerial vehicle system is used for confirming the invasion situation by shooting high-definition pictures and videos and synchronously feeding back the invasion situation to the unmanned island reef monitoring cooperative interaction system;

and the intrusion situation real-time display system is used for projecting the high-definition chart of the unmanned island reef monitoring terminal system and the real-time synchronous video of the unmanned aerial vehicle.

3. The Beidou-based vibration sensing unmanned island reef monitoring system according to claim 2, wherein the front sensing system comprises a plurality of front sensing nodes, each front sensing node comprising: power module, big dipper orientation module, signal processing module, on duty module, wireless communication module and vibration sensor, big dipper orientation module, signal processing module, on duty module and wireless communication module connect gradually, vibration sensor is connected with signal processing module, power module does big dipper orientation module, signal processing module, on duty module and wireless communication module power supply.

4. The Beidou based vibration sensing unmanned island reef monitoring system of claim 3,

the Beidou positioning module is used for providing positioning information of a front sensing node where the Beidou positioning module is located; the vibration sensor is used for generating a vibration signal and transmitting the vibration signal to the signal processing module;

the signal processing module is used for extracting effective vibration intrusion signals from the vibration signals, judging the effective vibration intrusion signals and generating intrusion alarm information with Beidou positioning information;

The watching module is used for awakening the first wireless communication module and the Beidou positioning module under the control of the signal processing module;

the first wireless communication module is used for uploading the intrusion alarm information to the front relay Beidou communication system.

5. The vibration perception unmanned island reef monitoring system based on big dipper of claim 4, characterized in that, leading relay big dipper communication system includes solar power module, big dipper universal subscriber machine, big dipper control module, big dipper duty module and second wireless communication module, second wireless communication module is connected with big dipper duty module, big dipper duty module and big dipper control module information intercommunication, big dipper control module and big dipper universal subscriber machine information intercommunication, solar power module is used for being big dipper universal subscriber machine, big dipper control module, big dipper duty module and second wireless communication module power supply.

6. The Beidou-based vibration sensing unmanned island reef monitoring system according to claim 5,

the Beidou universal user machine is used for forwarding intrusion alarm information with Beidou positioning information of the front sensing nodes to a Beidou commander of the unmanned island and reef collaborative interaction system;

The Beidou control module is used for controlling the solar power supply module to supply power to the Beidou universal subscriber machine, the Beidou control module, the Beidou duty module and the second wireless communication module and controlling the Beidou universal subscriber machine to forward the intrusion alarm information;

the second wireless communication module is used for receiving the intrusion alarm information of the first wireless communication module;

and the Beidou on duty module is used for activating the Beidou control module to work after the second wireless communication module receives the intrusion alarm information.

7. The Beidou-based vibration sensing unmanned island reef monitoring system according to claim 6, wherein the unmanned island reef monitoring terminal system comprises an unmanned island reef pre-system deployment database module, a data analysis module, a self-checking module, a data storage module, a system parameter management module, an information interaction module, a data synchronization module and a high definition satellite chart module, wherein,

the unmanned island reef pre-positioned system deployment database module is used for storing deployment and positioning data of all pre-positioned sensing nodes of the pre-positioned sensing system arranged on the unmanned island reef;

the data analysis module is used for analyzing the number and the direction of the invading people and realizing the invasion path prejudgment according to the invasion judgment result with the positioning information provided by the signal processing module, and meanwhile, the data sorting and classification and the invasion situation analysis are carried out;

The self-checking module is used for awakening the first wireless communication module once every 120 hours in a non-invasive state and sending state normal confirmation information once, and the self-checking module judges the fault condition of each preposed sensing node through the state confirmation information of each preposed sensing node with positioning information;

the data storage module is used for realizing the functions of real-time data recording, historical data updating and querying;

the system parameter management module is used for realizing the setting of user information, Beidou director parameter information, information of all Beidou general user machines under the director and unmanned aerial vehicle system data transmission parameters;

the information interaction module is used for realizing the information interaction of the Beidou commander in the front relay Beidou communication system and the unmanned island reef monitoring cooperative interaction system and the information interaction function of the unmanned aerial vehicle system;

the data synchronization module is used for realizing the synchronization function of the video data and the intrusion situation data of the unmanned aerial vehicle;

the high-definition satellite chart module is used for achieving the accurate positioning visualization function of the front sensing node, the unmanned aerial vehicle and the invasion disposal personnel on the high-definition chart.

8. The vibration sensing unmanned island reef monitoring system based on Beidou according to claim 1, wherein the unmanned island reef monitoring cooperative interaction system comprises a data exchange module and a Beidou commander, the data exchange module is connected with the Beidou commander, wherein,

The data exchange module is used for standardizing the data of the front sensing system according to a unified Beidou communication protocol so as to smoothly communicate through a Beidou channel;

the Beidou commander is used for forming a Beidou communication channel together with the Beidou communication modules on the unmanned aerial vehicles in the front relay Beidou communication system and the unmanned aerial vehicle system.

9. The Beidou-based vibration sensing unmanned island monitoring system according to claim 1, wherein the unmanned aerial vehicle system comprises an unmanned aerial vehicle, an unmanned aerial vehicle operation subsystem and an unmanned aerial vehicle maintenance subsystem, wherein,

the unmanned aerial vehicle operation subsystem is used for controlling takeoff, landing, shooting and communication of the unmanned aerial vehicle;

the unmanned aerial vehicle maintenance subsystem is used for maintenance, charging and overhaul of the unmanned aerial vehicle;

and the unmanned aerial vehicle is used for shooting high-definition pictures and videos to confirm the invasion condition and synchronously feeding back the pictures to the unmanned island reef monitoring terminal system through the unmanned aerial vehicle. .

10. The vibration sensing unmanned island reef monitoring system based on Beidou satellite according to claim 9, wherein the unmanned aerial vehicle is carried with a high definition pan-tilt camera, a Beidou communication module, a Beidou positioning module and an unmanned aerial vehicle control module, wherein,

The high-definition pan-tilt camera is used for shooting high-definition pictures and videos so as to confirm the invasion condition;

the Beidou positioning module is used for providing positioning information of the unmanned aerial vehicle;

the Beidou communication module is used for providing data transmission;

and the unmanned aerial vehicle control module is used for controlling the flight attitude and the camera of the unmanned aerial vehicle.

Technical Field

The invention relates to a vibration sensing unmanned island monitoring system based on Beidou, and belongs to the technical field of intelligent monitoring.

Background

The island reef is a very important fulcrum for exploring and utilizing the ocean by human beings, the research and the knowledge of the change characteristics and the change rules of the island reef ecosystem are one of key elements for developing ocean economy, effectively developing sea resources and protecting the ocean environment, and the closed island reef ecosystem needs to be specially treated in the process of ecological protection, so that the artificial damage to the island reef ecosystem is strictly forbidden. At the present stage, the interconnection terminal based on the Beidou system is widely applied to important civil and military fields such as vehicle-mounted, shipborne navigation, public security, electric power, finance, city management, surveying and mapping and the like, and the Beidou third system provides global efficient navigation, accurate positioning and satellite communication services. China has 1.1 ten thousand of reefs, has the characteristics of large quantity, wide distribution and large proportion of unmanned reefs, the existing reef island monitoring technology mainly utilizes a remote sensing technical means to monitor the atmospheric environment, the geographic environment and the marine environment of a certain reef island, mainly aims at monitoring and acquiring and analyzing the environmental data of the reef island, but cannot realize real-time and effective monitoring aiming at the artificial behaviors illegally damaging the natural ecological environment of the reef island, and takes protective measures.

The vibration perception unmanned island reef monitoring system based on the Beidou has the advantages of being wide in monitoring range, small in influence of terrain and weather conditions, good in concealment, strong in anti-interference and destructive capabilities, accurate, timely and uninterrupted in information acquisition, convenient and flexible to arrange and the like, wide-area applicability, stability, concealment, accuracy, continuity and good communication performance of the vibration perception unmanned island reef monitoring system can meet monitoring requirements of unmanned island reefs, and effective monitoring early warning is provided for natural ecological systems of the island reefs in China without artificial damage.

Disclosure of Invention

The invention aims to provide a vibration sensing unmanned island reef monitoring system based on Beidou, which can simultaneously carry out land, sea and air cooperative monitoring on a plurality of unmanned island reefs in a wide area range in a complex environment, provides a solution with both high cruising ability and high real-time property of unmanned island reef monitoring, solves the problems of wireless communication and positioning of the unmanned island reefs and the continental land at an ultra-far distance, realizes full-time uninterrupted intelligent monitoring of each unmanned island reef, enhances the protection monitoring capability of an unmanned island reef ecosystem, and saves a large amount of manpower, material resources and financial resources.

The technical scheme adopted by the invention is as follows:

The utility model provides an unmanned island reef monitoring system of vibration perception based on big dipper, monitoring system includes leading perception system, leading relay big dipper communication system, unmanned island reef monitoring terminal system, unmanned island reef monitoring interaction system in coordination, unmanned aerial vehicle system and the real-time display system of invasion situation, leading perception system, leading relay big dipper communication system all are equipped with a plurality ofly, and a plurality of leading perception system and a plurality of leading relay big dipper communication system one-to-one constitutes a plurality of leading systems, every leading system all with unmanned island reef monitoring terminal system with unmanned island reef monitoring interaction system information intercommunication in coordination, unmanned island reef monitoring terminal system with invasion situation real-time display system connects, unmanned island reef monitoring interaction system in coordination with unmanned aerial vehicle system information intercommunication.

The main advantages of the invention are: the vibration perception unmanned island monitoring system based on the Beidou provides a solution for keeping high cruising ability and high real-time performance of the system under an unmanned state, solves the problems of ultra-long distance wireless communication and invasion positioning of an unmanned island and a continent, saves a large amount of manpower, material resources and financial resources for island monitoring by combining with a shipborne/shore-borne unmanned aerial vehicle, and enhances the capability of ecological environment protection and monitoring of the unmanned island.

Drawings

FIG. 1 is an overall framework diagram of a vibration sensing unmanned island reef monitoring system based on Beidou;

FIG. 2 is a structural frame diagram of a front sensing system and a front relay Beidou communication system in the Beidou-based vibration sensing unmanned island reef monitoring system;

FIG. 3 is a schematic deployment diagram of the unmanned island reef monitoring collaborative interaction system;

fig. 4 is a working flow chart of the vibration sensing unmanned island reef monitoring system based on the Beidou.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the invention provides a vibration sensing unmanned island monitoring system based on Beidou, the monitoring system comprises a plurality of preposed sensing systems, a preposed relay Beidou communication system, an unmanned island reef monitoring terminal system, an unmanned island reef monitoring cooperative interaction system, an unmanned aerial vehicle system and an invasion situation real-time display system, and a plurality of preposed sensing systems and a plurality of preposed relay Beidou communication systems are in one-to-one correspondence to form a plurality of preposed systems, each preposed system is communicated with the unmanned island reef monitoring terminal system and the unmanned island reef monitoring cooperative interaction system, the unmanned island reef monitoring terminal system is connected with the intrusion situation real-time display system, and the unmanned island reef monitoring collaborative interaction system is in information intercommunication with the unmanned aerial vehicle system.

Specifically, the front-end system (comprising a front-end sensing system and a front-end Beidou communication system) forms a high-sensitivity vibration sensing network with a star-shaped topological structure through an LORA ad hoc network, a single node is a circular region with the radius of 50M and the node as the center under an ideal state of a sensing range for personnel hiking invasion, the deployment number of the front-end system is determined according to the area of an island during deployment, each set of front-end system deployment region is a circular region with the radius of 10KM and the front-end Beidou communication system as the center under an ideal state, different sensing nodes and different front-end systems are deployed in a cross deployment mode, and the cross region is determined according to the single-node sensing range and the ad hoc network communication range under the actual situation. The preposed sensing node circuit is designed by low power consumption and system watching, the preposed Beidou communication system is designed by a solar power supply and system watching, the power consumption of the preposed system (the preposed sensing system and the preposed relay system) can be effectively reduced, and the cruising ability of the system is greatly improved on the basis of ensuring the effectiveness of the system. According to the invention, the unmanned island reef monitoring cooperative interaction system realizes the over-distance interconnection among the front-end system, the unmanned aerial vehicle system and the unmanned island reef monitoring terminal system by using Beidou positioning and communication, solves the problems of remote transmission and positioning of intrusion alarm signals, and realizes the full-time uninterrupted intelligent monitoring of a plurality of unmanned island reefs in a wide area. The unmanned island reef monitoring terminal system realizes information interaction with the front-end system and the unmanned aerial vehicle system through the unmanned island reef monitoring cooperative interaction system, when the front-end system sends alarm information, intrusion prediction information is transmitted to the unmanned island reef monitoring terminal system, the intrusion prediction information is analyzed through the unmanned island reef monitoring terminal system, an analysis result is transmitted to the unmanned aerial vehicle control system through the unmanned island reef monitoring cooperative interaction system, the unmanned aerial vehicle finally confirms an intrusion target, the confirmation result is fed back to the unmanned island reef monitoring terminal system in a high-definition picture and real-time video synchronization mode, the result is synchronously projected to the intrusion situation display system, and the unmanned aerial vehicle or nearby cruising power is utilized to further adopt control, drive away, detain measures and the like to prevent illegal persons from damaging the island reef ecosystem.

Referring to fig. 2, in this preferred embodiment, the front sensing system is configured to collect vibration sensing signals, determine whether the vehicle is invaded, and upload invasion warning information with Beidou positioning information to the front relay Beidou communication system;

the front relay Beidou communication system is used for receiving intrusion alarm information with Beidou positioning information generated by the front sensing system and sending the intrusion alarm information to the unmanned island and reef monitoring cooperative interaction system;

the unmanned island reef monitoring collaborative interaction system is used for information interaction of the front-end system, the unmanned island reef monitoring terminal system and the unmanned aerial vehicle system;

the unmanned island reef monitoring terminal system is used for monitoring the state of the invasion situation and the state of the whole monitoring system, interacting system information and assisting decision making;

the unmanned aerial vehicle system is used for confirming the invasion situation by shooting high-definition pictures and videos and synchronously feeding back the invasion situation to the unmanned island reef monitoring cooperative interaction system;

and the intrusion situation real-time display system is used for projecting the high-definition chart of the unmanned island reef monitoring terminal system and the real-time synchronous video of the unmanned aerial vehicle.

In this preferred embodiment, the front sensing system includes a plurality of front sensing nodes, and each front sensing node includes: power module, big dipper orientation module, signal processing module, on duty module, wireless communication module and vibration sensor, big dipper orientation module, signal processing module, on duty module and wireless communication module connect gradually, vibration sensor is connected with signal processing module, power module does big dipper orientation module, signal processing module, on duty module and wireless communication module power supply.

In this preferred embodiment, the Beidou positioning module is configured to provide positioning information of a front sensing node where the Beidou positioning module is located;

the vibration sensor is used for generating a vibration signal and transmitting the vibration signal to the signal processing module;

the signal processing module is used for extracting effective vibration intrusion signals from the vibration signals, judging the effective vibration intrusion signals and generating intrusion alarm information with Beidou positioning information;

the watching module is used for awakening the first wireless communication module and the Beidou positioning module under the control of the signal processing module;

the first wireless communication module is used for uploading the intrusion alarm information to the front relay Beidou communication system.

Specifically, the preposed sensing system is vibration sensing signal acquisition and intrusion pre-judging equipment, which consists of a plurality of groups of sensing nodes, a star-shaped topological structure ad hoc network is formed by a preposed relay Beidou communication system, each sensing node in the network has an accurate Beidou positioning function, each sensing node comprises a high-sensitivity vibration sensor, a power supply module, a signal processing module, an on-duty module, a wireless communication module, a Beidou positioning module and the like, the plurality of sensing nodes form a wireless ad hoc network to realize the cooperative work of the plurality of sensing nodes, and the wireless ad hoc network is used for the information acquisition and intrusion pre-judging of the field environment of the unmanned island reef, the power supply module respectively provides power supply for the signal processing module, the on-duty module, the wireless communication module and the Beidou positioning module, and the vibration sensor, the signal processing module, the on-duty module, the wireless communication module and the Beidou positioning module carry out information interaction through serial ports, wireless communication module and big dipper orientation module standby under the usual state, wireless communication module and big dipper orientation module can be awaken up to the module of guarding. And the sensing subnodes are designed by adopting low noise, and effective intrusion vibration signals are extracted from the noise of the complex environment by utilizing a low noise filter and combining a preprocessing algorithm. When the invasion takes place, vibration sensor transmits vibration signal for signal processing module, draws effective vibration invasion signal and judges the invasion signal through signal processing module, confirms for after the invasion signal, awakens wireless communication module and big dipper orientation module through the on duty module, and wireless communication module will have the invasion warning message of big dipper orientation information to upload to preceding relay communication system. Under the non-invasion state, the sensing node watching module awakens the wireless communication module and the Beidou positioning module once every 120 hours and sends system state information once.

In this preferred embodiment, the front relay Beidou communication system comprises a solar power supply module, a Beidou universal subscriber machine, a Beidou control module, a Beidou on duty module and a second wireless communication module, wherein the second wireless communication module is connected with the Beidou on duty module, the Beidou on duty module is in information intercommunication with the Beidou control module, the Beidou control module is in information intercommunication with the Beidou universal subscriber machine, the Beidou control module, the Beidou on duty module and the second wireless communication module are in power supply, and the solar power supply module is used for supplying power to the Beidou universal subscriber machine, the Beidou control module, the Beidou on duty module and the second wireless communication module.

In a preferred embodiment of the part, the Beidou universal user machine is used for forwarding intrusion warning information with Beidou positioning information of the plurality of front sensing nodes to a Beidou commander of the unmanned island and reef collaborative interaction system;

the Beidou control module is used for controlling the solar power supply module to supply power to the Beidou universal subscriber machine, the Beidou control module, the Beidou duty module and the second wireless communication module and controlling the Beidou universal subscriber machine to forward the intrusion alarm information;

the second wireless communication module is used for receiving the intrusion alarm information of the first wireless communication module;

And the Beidou on duty module is used for activating the Beidou control module to work after the second wireless communication module receives the intrusion alarm information.

Specifically, leading relay big dipper communication system be leading perception system intrusion predetermined judgement result's big dipper communication relay equipment, including solar energy power module, big dipper universal subscriber machine, big dipper control module, big dipper on duty module, wireless communication module, utilize wireless ad hoc network and leading perception system to realize interconnection and realize the data transmission of leading system and unmanned island reef monitor terminal system through big dipper communication simultaneously, solar energy power module is big dipper universal subscriber machine respectively, big dipper control module, big dipper on duty module, the power supply of wireless communication module. When the wireless communication module receives the alarm information of the front sensing system, the Beidou control module is activated through the Beidou on-duty module, the Beidou control module controls the solar power supply module to supply power for the Beidou universal user machine, and the Beidou universal user machine sends the intrusion alarm information with the Beidou positioning information of the front sensing nodes to the Beidou command machine of the unmanned island reef system interaction system. And when the information of the multiple groups of sensing nodes is obtained, the information is sequentially sent according to the information sequence.

Referring to fig. 3, the preposed sensing system and the preposed relay Beidou communication system form a preposed system and are deployed on an unmanned island. Each perception node of the front-end system forms a star-shaped topological structure ad hoc network by taking the front-end relay Beidou communication system as a center, each perception node in the network has an accurate Beidou positioning function, a circular area with the radius of 50m and the nodes as the center is formed in the perception range of the perception node in an ideal state, a circular area with the radius of 10km and the front-end relay Beidou communication system as the center is formed in each set of front-end system deployment area in an ideal state, a plurality of sets of front-end systems can be deployed according to the area of an island reef, and the monitoring range and the intrusion positioning accuracy are improved. And when different sensing nodes and different front-end systems are deployed, a cross deployment mode is adopted, and a cross area is determined according to a single-node sensing range and an ad hoc network communication range under the actual condition.

In the preferred embodiment of the part, the unmanned reef island monitoring terminal system comprises an unmanned reef island pre-system deployment database module, a data analysis module, a self-checking module, a data storage module, a system parameter management module, an information interaction module, a data synchronization module and a high-definition satellite chart module, wherein,

The unmanned island reef pre-positioned system deployment database module is used for storing deployment and positioning data of all pre-positioned sensing nodes of the pre-positioned sensing system arranged on the unmanned island reef;

the data analysis module is used for analyzing the number and the direction of the invading people and realizing the invasion path prejudgment according to the invasion judgment result with the positioning information provided by the signal processing module, and meanwhile, the data sorting and classification and the invasion situation analysis are carried out;

the self-checking module is used for awakening the first wireless communication module once every 120 hours in a non-invasive state and sending state normal confirmation information once, and the self-checking module judges the fault condition of each preposed sensing node through the state confirmation information of each preposed sensing node with positioning information;

the data storage module is used for realizing the functions of real-time data recording, historical data updating and querying;

the system parameter management module is used for realizing the setting of user information, Beidou director parameter information, information of all Beidou general user machines under the director and unmanned aerial vehicle system data transmission parameters;

the information interaction module is used for realizing the information interaction of the Beidou system and the information interaction function of the unmanned aerial vehicle system;

The data synchronization module is used for realizing the synchronization function of the video data and the intrusion situation data of the unmanned aerial vehicle;

the high-definition satellite chart module is used for achieving the accurate positioning visualization function of the front sensing node, the unmanned aerial vehicle and the invasion disposal personnel on the high-definition chart.

Specifically, the unmanned island reef monitoring terminal system is divided into a shipborne system and a shore-based system. The control terminal carries an unmanned island and reef monitoring system program, the program is developed by using C + + language, the program is suitable for common computer operating systems, a good intelligent human-computer interaction interface is built through WPF, the program comprises an unmanned island and reef front-end system deployment database module, a data analysis module, a self-checking module, a data storage module, a system parameter management module, an information interaction module, a data synchronization module and a high-definition satellite chart module, and the unmanned island and reef monitoring terminal is responsible for intrusion situation and system state monitoring, system information interaction and decision assistance. The unmanned island reef monitoring control terminal can correspond a plurality of sets of front-mounted systems, the shipborne system is installed on a normalized island reef cruising ship, and the shore-based system is installed in a shore-based monitoring center.

In this part of preferred embodiment, unmanned island reef monitoring is interactive system in coordination, including data exchange module and big dipper commander, data exchange module is used for the data of sending of preceding relay big dipper communication system and the data of unmanned aerial vehicle feedback according to the standardization of the big dipper communication protocol of standard, big dipper commander is as the controlgear of monitoring system big dipper communication channel, can set up and control preceding relay big dipper communication system and unmanned aerial vehicle big dipper communication module, be the core equipment of big dipper communication, be used for the receipt and the sending of preceding relay big dipper communication system and unmanned aerial vehicle information.

Specifically, unmanned island reef monitoring is interactive system in coordination includes data exchange module and big dipper commander, is responsible for the information interaction of leading system, unmanned island reef monitor terminal shipborne/bank base system and unmanned aerial vehicle system. The unmanned island reef monitoring cooperative interaction system converts alarm information (including information such as sensing node positioning and invasion situation) of a front system into unified standard data to be uploaded to the unmanned island reef monitoring terminal shipborne/shore-based system and the unmanned island system, and simultaneously feeds back high-definition photos and synchronous videos for confirming the invasion condition of the unmanned island to the unmanned island reef monitoring terminal shipborne/shore-based system.

In the preferred embodiment of the present section, the unmanned aerial vehicle system comprises an unmanned aerial vehicle, an unmanned aerial vehicle operation subsystem and an unmanned aerial vehicle maintenance subsystem, wherein the unmanned aerial vehicle is provided with a high-definition pan-tilt camera, a Beidou communication module, a Beidou positioning module and an unmanned aerial vehicle control module,

the high-definition pan-tilt camera is used for shooting high-definition pictures and videos so as to confirm the invasion condition;

the Beidou positioning module is used for providing positioning information of the unmanned aerial vehicle;

the Beidou communication module is used for providing data transmission;

and the unmanned aerial vehicle control module is used for controlling the flight attitude and the camera of the unmanned aerial vehicle.

Specifically, unmanned aerial vehicle system industrial scale customization unmanned aerial vehicle divide into on-board unmanned aerial vehicle system and bank base unmanned aerial vehicle system according to the position of deployment, on-board unmanned aerial vehicle system and bank base unmanned aerial vehicle system all include: unmanned aerial vehicle, unmanned aerial vehicle operation branch system and unmanned aerial vehicle maintain branch system. Unmanned aerial vehicle carries high definition cloud platform camera, big dipper communication module, big dipper orientation module, unmanned aerial vehicle control module, and high definition cloud platform camera shoots high definition photo and video and confirms the invasion condition, and big dipper orientation module provides unmanned aerial vehicle locating information, and big dipper communication module provides data transmission. The unmanned aerial vehicle system confirms the invasion situation by shooting high-definition pictures and videos and synchronously feeds the situation back to the corresponding control terminal.

The intrusion situation real-time display system is responsible for projecting high-definition sea maps and unmanned aerial vehicle real-time synchronous videos of the unmanned island and reef monitoring terminal shipborne/shore-based system, and the contents such as preposed sensing node positioning and warning information, unmanned aerial vehicle positioning information and intrusion situation data analysis results are displayed on the high-definition sea maps in real time.

Referring to fig. 4, the operation flow of the system of the present invention is as follows:

s1, detecting a vibration invasion signal by one or more sensing nodes of the front sensing system;

S2, awakening the wireless communication module by each front sensing node watching module, and uploading alarm pre-determination information with the Beidou positioning information of the node to a front relay Beidou communication system;

s3, after the wireless communication module of the front relay Beidou communication system receives alarm pre-judging information, the Beidou control module is awakened through the Beidou watching module, and the Beidou control module sequentially forwards the alarm pre-judging information with the Beidou positioning information of each sensing node to a Beidou command machine of the unmanned island and reef cooperative interaction system according to the alarm information receiving time through a Beidou universal user machine;

s4, after receiving the alarm information, the Beidou commander of the unmanned island and reef collaborative interaction system forwards the alarm information to the unmanned island and reef monitoring terminal shipborne/shore-based system through the data exchange module, the unmanned island and reef monitoring terminal system analyzes the invasion situation according to the Beidou positioning information of the multiple groups of sensing nodes, and forwards the invasion situation to the shipborne/shore-based unmanned aerial vehicle system closest to the invaded island through the collaborative interaction system according to the analysis result;

s5, the unmanned aerial vehicle system controls the unmanned aerial vehicle to confirm the invasion condition to the target island, and unmanned aerial vehicle Beidou positioning information, shot high-definition pictures and real-time videos are synchronously sent to the unmanned island monitoring terminal system through airborne Beidou and the interactive system;

S6, making an auxiliary decision by the unmanned island reef monitoring terminal system according to the feedback result of the unmanned aerial vehicle, and projecting the visual result of the positioning information, the intrusion analysis and the auxiliary decision of the unmanned aerial vehicle on the high-definition chart and the real-time synchronous video to an intrusion situation display system for decision use of an ecological environment monitoring center;

s7, the ecological environment monitoring center allocates protective ships and personnel nearby according to the invasion situation to control, drive and process the island invasion target;

and S8, after the intrusion event is processed, restoring the on-duty state of each system.