CN106959703A - A kind of forest reserves sample-plot survey unmanned plane localization method - Google Patents
A kind of forest reserves sample-plot survey unmanned plane localization method Download PDFInfo
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- CN106959703A CN106959703A CN201710310932.XA CN201710310932A CN106959703A CN 106959703 A CN106959703 A CN 106959703A CN 201710310932 A CN201710310932 A CN 201710310932A CN 106959703 A CN106959703 A CN 106959703A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000004807 localization Effects 0.000 title claims abstract description 17
- 238000013459 approach Methods 0.000 claims abstract description 4
- 239000002184 metal Substances 0.000 claims description 12
- 229910052751 metal Inorganic materials 0.000 claims description 12
- 239000007787 solid Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims 1
- 210000003205 muscle Anatomy 0.000 claims 1
- 238000004080 punching Methods 0.000 claims 1
- 238000011835 investigation Methods 0.000 description 8
- 101000804902 Drosophila melanogaster Xaa-Pro aminopeptidase ApepP Proteins 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000001465 metallisation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of forest reserves sample-plot survey unmanned plane localization method, comprises the following steps：（1）Manipulation unmanned plane flies to the sample ditch stake gps coordinate position that need to be positioned；（2）By remote manipulator remote control delivery device, positioning mark is thrown near the stake of sample ditch from sample ditch stake top；（3）Bluetooth signal locator in positioning mark internals can send bluetooth location information in real time, and APP softwares are positioned using Bluetooth of mobile phone, check the real-time bluetooth location information that positioning mark is transmitted, and positioning target approach route is searched in planning；（4）Into after sample ground, real-time bluetooth location information, sound and the flicker laser sent according to positioning mark searches out positioning mark；（5）The stake of sample ditch is found near positioning mark.It is contemplated that quickly and easily determining sample ditch stake position.
Description
Technical field
The present invention relates to a kind of forest reserves sample-plot survey unmanned plane localization method.
Background technology
The current class of National Forest resource one, forestry resource survey are all permanent sample plot investigation, firstly the need of from luxuriant in investigation
Forest in positioning the good fixed investigation sample of original cloth.According to National Forest resource investigation standard, the fixed investigation sample of laying
Ground corner have recorded accurate gps coordinate provided with four angle stakes when wherein the stake of southwest corner angle is laid in sample.Therefore forest is carried out
The class of resource one, forestry resource survey first have to position the particular location on fixed investigation sample ground, the particular location on the fixed investigation sample ground of positioning
The gps coordinate of southwest corner angle stake finds the particular location of positioning southwest corner angle stake with first having to foundation sample.
At present, generally using with the finding sample southwest corner stake of GPS navigation technology, investigator mainly applies leading for handhold GPS
Boat and positioning function, but because tree growth is blocked and the stake of southwest corner angle is obvious with causing sample, the ambient influnence that forest zone is special
Factor, including tree crown, canopy density, orographic condition etc. cause gps signal to be blocked so as to which handhold GPS positioning is inaccurate, it is impossible to fast
Fast easily permanent plot southwest corner Jiao Zhuan positions.Now widely used location instrument includes total powerstation, theodolite, hand-held
GPS etc., though these equipment can be positioned effectively, in forest reserves sample-plot survey, is declined by shortest sighting distance, signal
The stake of weak, angle can not be played its effect by the influence of tree cover on the contrary, and also need to investigator and manually searched, and be gloomy
Woods resource sample-plot survey brings certain puzzlement, due to investigation the need for, quick positioning seems especially important.
The content of the invention
It is an object of the invention to provide a kind of forest reserves sample-plot survey unmanned plane localization method, make investigator fast
Fast permanent plot southwest corner Jiao Zhuan positions exactly.
To achieve the above object, the technical scheme is that：A kind of forest reserves sample-plot survey unmanned plane localization method,
Table top can carry delivery device below the unmanned plane, for delivering positioning mark；Localization method comprises the following steps：
（1）Manipulation unmanned plane flies to the sample ditch stake gps coordinate position that need to be positioned；
（2）By remote manipulator remote control delivery device, positioning mark is thrown near the stake of sample ditch from sample ditch stake top；
（3）Bluetooth signal locator in positioning mark internals can send bluetooth location information in real time, fixed using Bluetooth of mobile phone
Position APP softwares, check the real-time bluetooth location information that positioning mark is transmitted, and positioning target approach route is searched in planning；
（4）Into after sample ground, real-time bluetooth location information, sound and the flicker laser sent according to positioning mark searches out positioning
Mark；
（5）The stake of sample ditch is found near positioning mark.
Further, the delivery device is no more than 5kg with positioning mark gross weight.
Further, the positioning mark is overall cylindrical, and fixed hook is arranged at top, and bottom is solid metal circular cone
Body, center section is hollow metal tub structure.
Further, it is described positioning mark tubular structure inside installing include lanyard, flash lamp, Bluetooth signal locator,
Broadcast loudspeaker, battery and switch, buffer strip.
Further, the positioning target top half is with the latter half by being threadedly coupled, and junction inner space is used for
Placement positioning target battery.
Further, the buffer strip be cylindric sponge, be installed in flash lamp, Bluetooth signal locator, broadcast loudspeaker,
Below the internals such as battery, the sponge top center has a cylindrical recess, for placement positioning target switch.
Further, the lanyard is two, respectively positioned at the top and the bottom of positioning mark tubular structure.
Further, the lanyard is made up of two pads, a spring, and spring is fixed between two pads.
Further, hollow out sets some circular holes, the circle in the positioning mark metal cylinder outside the flash lamp installation site
The location interval in hole and shape size are corresponding with the flash lamp that inner space is laid, and the light that flash lamp is sent can be made to pass through circle
Hole shines out.
Further, hollow out sets some tiny and distribution in the positioning mark metal cylinder outside the broadcast loudspeaker installation site
Uniform hole, described hole can propagate the sound of broadcast loudspeaker.
Compared to prior art, the invention has the advantages that：Method proposed by the present invention can utilize existing
The accurate GPS location in technology such as unmanned plane high-altitude reduces that the gps signal produced by tree cover is weak, it is inaccurate to position；At a distance
Wireless remote control delivers positioning mark, and using positioning, target sound guidance, flash of light are guided, Bluetooth AP P combination guiding functions are reduced into woods
Afterwards because of the difficulty such as signal is weak, unsighted, orientation is unclear.The present invention can solve the class of National Forest resource one, forestry resource survey
The problem of Shi Wufa rapid and convenients determine sample ditch stake position.
Brief description of the drawings
Fig. 1 is flow chart of the present invention.
Fig. 2 is present invention positioning mark general structure schematic diagram.
Fig. 3 puts on half part structural representation for present invention positioning.
Fig. 4 is present invention positioning mark the latter half structural representation.
Fig. 5 is present invention positioning mark internal damping band structure schematic diagram.
Fig. 6 is buffer strip structural representation in present invention positioning mark.
Embodiment
Technical scheme is further described in detail with reference to specific embodiment.
Flow chart of the present invention is the prior preparatory stage respectively, fixed as shown in figure 1, specific implementation process is divided into three phases
Deliver the stage, search positioning stage in position.
The prior preparatory stage
Delivery device is fixed on table top below unmanned plane；
Positioning mark power switch is opened, starts and checks positioning target sound guidance, glisten guiding, Bluetooth AP P guiding functions
Can normal operation, i.e., broadcast whether loudspeaker can normally broadcast, whether flash lamp can normally flash, bluetooth locator whether
Normally it can be contacted with mobile phone A PP software normal tables；
Positioning mark is fixed on the stay hook of delivery device, is started using remote manipulator and checks that the dispensing of delivery device is determined
Can position mark function normal operation；
Unmanned plane power switch is opened, unmanned plane electricity and other situations are checked, it would be desirable to which the angle stake gps coordinate of positioning is defeated
Enter unmanned aerial vehicle base station, unmanned plane during flying route is set, standby for takeoff is delivered.
Position the dispensing stage
Open vacant lot is taken off using unmanned plane operator control unmanned plane outside forest land；
Using unmanned controller and ground base station signal data, manipulation unmanned plane is ascended to heaven to suitable height（Unmanned plane during flying
Depending on highly regarding sample, situation marks drop resistant performance with positioning on the spot）；
The gps coordinate of the manipulation unmanned plane sample that need to position is flown to according to the flight path being previously set southwest corner angle stake, it is sharp
It is located at high-altitude gps signal with unmanned plane and disturbs small advantage, with being accurately positioned sample the gps coordinate of southwest corner angle stake；
Manipulation unmanned plane hover to the sample that need to be positioned southwest corner angle stake gps coordinate position overhead；
Manipulation unmanned plane hovers over sample ditch stake top and drops to 30 meters away from ground（Depending on different model unmanned plane function and ground
Base station information data and can real-time monitored unmanned plane away from ground level depending on, decline the height away from ground regard positioning mark drop resistant
Performance and sample on the spot depending on situation）.
Suspension positioning target stay hook is unclamped using Remote delivery device, the sample that mark is hovered from unmanned plane will be positioned
Ditch stake top is thrown near the stake of sample ditch.
Search positioning stage
Control unmanned plane first makes a return voyage landing；
Then using target Bluetooth AP P combination guiding functions are positioned, Bluetooth of mobile phone positioning APP softwares are opened, positioning mark institute is checked
Positioning target approach route is searched in the real-time bluetooth location information of transmission, planning；
Into after sample ground, using target sound guidance function is positioned, the broadcast of horn component is marked according to positioning, positioning is arrived in searching
Target approximate location；
Arrive at after positioning target approximate location, using target flash of light guiding function is positioned, according to the flash of light of positioning mark flash of light part,
Positioning target is found specifically to fall place；
Find positioning target and specifically fall behind place that just meaning reaches sample ditch stake or so, need to only be fallen in positioning mark near place
Find, just can with easily finding sample southwest corner angle stake particular location.
In the present embodiment, as shown in Fig. 2 positioning mark it is overall be in cylindrical type, bottom be solid metal circular cone as with
Weight, top is a cylindrical fixed hook.Whole positioning mark is in addition to bottommost has solid metal circular cone, and positioning marks remaining
Part is all hollow metal tub structure.Whole positioning mark designs high about 18.4 centimetres, about 8.4 centimetres of body diameter, most bottom
Portion's cone height is 4 centimetres, gross weight about 1.5kg.Positioning mark is overall to be divided into 7 regions, and a is lanyard, and b is flash lamp, and c is
Bluetooth signal locator, d is broadcast loudspeaker, and e is battery and switch, and f is buffer strip, and g is the solid metal circular cone of counterweight.
In the present embodiment, as shown in figure 3, half part is put in positioning can be divided into 5 regions, a is lanyard, and b is flash of light
Lamp, the upper hollow out of external metallization cylinder has a circular hole that 4 radiuses are 0.5 centimetre, the location interval of the circular hole and shape size with it is interior
The flash lamp of portion's spatial arrangement is corresponding, and the light that flash lamp is sent can be made to be shone out by circular hole.C positions for Bluetooth signal
Device, d is broadcast loudspeaker, and the upper hollow out of external metallization cylinder is distributed with some tiny and equally distributed hole, can propagate broadcast loudspeaker
Mouth is revolved for screw thread on sound, e external metallizations cylinder, half part can be put on for positioning and is connected with the latter half, its correspondence
Inner space can placement positioning target battery.
In the present embodiment, as shown in figure 4, positioning mark the latter half bottom is the solid gold of 4 centimetres of 4 cm height of radius
Belong to circular cone, top is that height is available for positioning to put on half part being connected with the latter half for 2 centimetres of screw thread rotation mouth.
In the present embodiment, as shown in figure 5, positioning mark lanyard overall shape be 2 centimetres of a thickness, a diameter of 8 centimetres
Disk.Lanyard is made up of three parts, and a1 parts are pad, and a2 parts are spring.Upper lower gasket is shaped as 8 lis of diameter
Rice, thickness are 0.3 centimetre of disk, and both ends of the spring is fixed on lower gasket, and the Partial Height that spring exposes is 1.4 centimetres.
Lanyard can be effectively reduced because of the huge impulsive contact force that positioning mark is produced after falling from high altitude by spring.Positioning mark is internal shared
Two lanyards, the top and positioning for putting on half part inner space positioned at positioning respectively marks the latter half inner space most
Bottom, the impulsive contact force of internals after can so weakening positioning mark to the full extent from falling from high altitude to ground, it is ensured that and carry
Height positioning target antidetonation, drop resistant function.
In the present embodiment, as shown in fig. 6, positioning mark buffer strip is height 2 centimetres, the cylindric sponge of 8 centimetres of diameter,
There are 1 centimetre of a depth, the cylindrical recess of 4 centimetres of diameter in buffer strip top center.Marked for positioning in the corresponding space of recess
Broadcast, flash of light, the power switch of bluetooth real-time navigation capability.Sponge buffer strip can further reduce positioning mark from falling from high altitude
The collision dynamics of internals, function effect of protection positioning mark internals are marked to positioning to the inertia that ground is produced.
The object, technical solutions and advantages of the present invention are described in detail above, the above is should be understood that
Only presently preferred embodiments of the present invention, is not intended to limit the invention, within the spirit and principles of the invention, is made
Any modifications, equivalent substitutions and improvements etc., should be included within the scope of the present invention.
Claims (9)
1. a kind of forest reserves sample-plot survey unmanned plane localization method, it is characterised in that table top can be carried below the unmanned plane
Delivery device, for delivering positioning mark；Its localization method comprises the following steps：
(1) manipulation unmanned plane flies to the sample ditch stake gps coordinate position that need to be positioned；
(2) by remote manipulator remote control delivery device, positioning mark is thrown near the stake of sample ditch from sample ditch stake top；
(3) the Bluetooth signal locator in positioning mark internals can send bluetooth location information in real time, fixed using Bluetooth of mobile phone
Position APP softwares, check the real-time bluetooth location information that positioning mark is transmitted, and positioning target approach route is searched in planning；
(4) enter behind sample ground, real-time bluetooth location information, sound and the flicker laser sent according to positioning mark searches out positioning
Mark；
(5) stake of sample ditch is found near positioning mark.
2. a kind of forest reserves sample-plot survey unmanned plane localization method according to claim 1, it is characterised in that described fixed
Position mark is overall cylindrical, and fixed hook is arranged at top, and bottom is solid round metal cone, and center section is hollow metal cylinder
Shape structure.
3. a kind of forest reserves sample-plot survey unmanned plane localization method according to claim 2, it is characterised in that described fixed
Installing includes lanyard, flash lamp, Bluetooth signal locator, broadcast loudspeaker, battery and switch, buffering inside the mark tubular structure of position
Band.
4. a kind of forest reserves sample-plot survey unmanned plane localization method according to claim 2, it is characterised in that described fixed
Position target top half is with the latter half by being threadedly coupled, and junction inner space is used for placement positioning target battery.
5. a kind of forest reserves sample-plot survey unmanned plane localization method according to claim 3, it is characterised in that described slow
Punching band is cylindric sponge, is installed in below the internals such as flash lamp, Bluetooth signal locator, broadcast loudspeaker, battery, described
Sponge top center has a cylindrical recess, for placement positioning target switch.
6. a kind of forest reserves sample-plot survey unmanned plane localization method according to claim 3, it is characterised in that described to subtract
Shake band is two, respectively positioned at the top and the bottom of positioning mark tubular structure.
7. a kind of forest reserves sample-plot survey unmanned plane localization method according to claim 3, it is characterised in that described to subtract
Shake band is made up of two pads, a spring, and spring is fixed between two pads.
8. a kind of forest reserves sample-plot survey unmanned plane localization method according to claim 3, it is characterised in that the sudden strain of a muscle
Hollow out sets some circular holes in positioning mark metal cylinder outside light lamp installation site, the location interval of the circular hole and shape size with
The flash lamp that inner space is laid is corresponding, and the light that flash lamp is sent can be made to be shone out by circular hole.
9. a kind of forest reserves sample-plot survey unmanned plane localization method according to claim 3, it is characterised in that described to broadcast
Hollow out sets hole that is some tiny and being evenly distributed in positioning mark metal cylinder outside sound loudspeaker installation site, and described hole can be passed
The sound of broadcast loudspeaker.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710310932.XA CN106959703A (en) | 2017-05-05 | 2017-05-05 | A kind of forest reserves sample-plot survey unmanned plane localization method |
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| CN201710310932.XA CN106959703A (en) | 2017-05-05 | 2017-05-05 | A kind of forest reserves sample-plot survey unmanned plane localization method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109244937A (en) * | 2018-10-18 | 2019-01-18 | 山东弘图电力科技有限公司 | A kind of mountain area inspection layout of roads system and its application method |
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| CN206039301U (en) * | 2016-08-16 | 2017-03-22 | 西安西康科技有限责任公司 | Three -dimensional wounded of open -air no humanization give first aid to search system |
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2017
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101571406A (en) * | 2008-10-30 | 2009-11-04 | 徐克林 | Positioning tracking and search assisting system |
| CN102916737A (en) * | 2010-12-20 | 2013-02-06 | 沈立夫 | Cast type radio relay |
| CN102636797A (en) * | 2012-04-19 | 2012-08-15 | 苏州市五维网络科技有限公司 | Close-distance assistant satellite positioning equipment |
| CN104345644A (en) * | 2013-07-29 | 2015-02-11 | 中科宇图天下科技有限公司 | Monitoring unmanned plane equipped with throwing sensing device and monitoring method |
| CN103840857A (en) * | 2014-03-12 | 2014-06-04 | 上海天奕达电子科技有限公司 | Method and equipment for searching for Bluetooth equipment rapidly |
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| CN109244937A (en) * | 2018-10-18 | 2019-01-18 | 山东弘图电力科技有限公司 | A kind of mountain area inspection layout of roads system and its application method |
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