CN105182449B - DATA REASONING acquisition methods, apparatus and system - Google Patents

Abstract

The invention discloses a method, device and system for data measurement and acquisition. Among them, the system includes: a master aerostat node, a slave aerostat node and a ground measurement and control station, wherein the master aerostat node establishes a communication connection with multiple slave aerostat nodes for controlling multiple slave aerostat nodes The node moves to the corresponding measurement position, and obtains and analyzes the measurement data of multiple slave aerostat nodes at the measurement position; the ground measurement and control station establishes a communication connection with the main aerostat node, which is used to instruct the main aerostat node by controlling the Execute measurement tasks from aerostat nodes. The invention solves the technical problem that the range of wind measurement is small due to the fixation of the observation station on the ground, thereby limiting the measurement range of high-altitude wind measurement.

Description

Data measurement acquisition method, device and system

technical field

The present invention relates to the application field of communication technology, in particular, to a method, device and system for data measurement and acquisition.

Background technique

At present, the upper-altitude wind measurement is mainly carried out by the wind measuring aerostat. The ground uses the wind measuring theodolite to continuously track and observe the wind measuring aerostat, and records the elevation angle and azimuth angle of the wind measuring aerostat every minute, and then passes Calculate and obtain the average wind direction and wind speed of each layer in the air where the aerostat passes. However, in the current measurement of upper-altitude wind, the ground theodolite needs to manually record the observation data first, then manually enter the data, and finally calculate the upper-altitude wind measurement result manually through the input data. From the above, we can see that the entire measurement process is cumbersome and requires many Therefore, it is difficult to guarantee synchronization and real-time performance, and only a certain area can be measured in a certain period of time. If the area is changed, it is necessary to manually move the theodolite and other related ground equipment, which will consume a lot of manpower. And material resources, and because meteorological conditions such as smog that often appear in various places will affect the application of wind theodolite, it will bring great inconvenience to high-altitude wind measurement.

Therefore, how to improve measurement accuracy and improve measurement efficiency has become one of the important issues to be solved by this undertaking.

In the existing implementation, there are two solutions, as follows:

Method 1 provides a semi-automatic dual electronic theodolite wind measurement system, which can automatically collect data;

Method 2 provides a high-altitude weather detection GPS wind measurement unit, which has the advantages of low cost, stable and reliable, and does not require manual tracking;

However, in method 1, it is necessary to manually track the aerostat during high-altitude wind measurement, because manual tracking will cause subjective errors, resulting in low wind measurement accuracy; in method 2, because the ground observation station is fixed, the range of wind measurement cannot be expanded, which limits the high-altitude Wind measurement range.

Aiming at the above-mentioned problem that the wind measurement range is small due to the fixed ground observation station, which limits the measurement range of upper-altitude wind measurement, no effective solution has been proposed so far.

Contents of the invention

Embodiments of the present invention provide a data measurement and acquisition method, device and system to at least solve the technical problem that the wind measurement range is small due to the fixed ground observation station, thereby limiting the measurement range of high-altitude wind measurement.

According to an aspect of an embodiment of the present invention, a data measurement and acquisition system is provided, including: a master aerostat node, a slave aerostat node, and a ground measurement and control station, wherein the master aerostat node and a plurality of slave aerostats The node establishes a communication connection, which is used to control the movement of multiple slave aerostat nodes to the corresponding measurement position, and obtain and analyze the measurement data of multiple slave aerostat nodes at the measurement position; the ground measurement and control station establishes communication with the main aerostat node connected to instruct the slave aerostat node to perform measurement tasks by controlling the master aerostat node.

According to another aspect of the embodiments of the present invention, there is also provided a data measurement and acquisition method, which is applied to the above data measurement and acquisition system, including: sending control instructions to any one or more slave aerostat nodes, the control instructions are used to indicate From the measurement position of the aerostat node, and/or perform the measurement task corresponding to the measurement position; receive the measurement data of the measurement task sent from the aerostat node at the measurement position; analyze the measurement data, and obtain the measurement result corresponding to the measurement data .

According to another aspect of the embodiments of the present invention, there is also provided a data measurement and acquisition method, which is applied to the above data measurement and acquisition system, including: receiving a control command sent by the main aerostat node, the control command is used to indicate the measurement position, and /or execute the measurement task corresponding to the measurement position; execute the measurement task at the measurement position according to the measurement position in the control instruction; return the measurement data of the measurement task to the main aerostat node.

According to another aspect of the embodiments of the present invention, there is also provided a device for data measurement and acquisition, including: a sending module, configured to send a control command to any one or more slave aerostat nodes, the control command is used to instruct the slave aerostat The measurement position of the device node, and/or perform the measurement task corresponding to the measurement position; the first receiving module is used to receive the measurement data of the measurement task sent from the aerostat node at the measurement position; the measurement module is used to perform measurement data Analyze and obtain the measurement results corresponding to the measurement data.

According to another aspect of the embodiments of the present invention, there is also provided a data measurement and acquisition device, including: an instruction receiving module, configured to receive a control instruction sent by the main aerostat node, the control instruction is used to indicate the measurement position, and/or Execute the measurement task corresponding to the measurement position; the measurement module is used to perform the measurement task at the measurement position according to the measurement position in the control command; the data sending module is used to return the measurement data of the measurement task to the main aerostat node.

In the embodiment of the present invention, the master aerostat node is used to send a control instruction to any one or more slave aerostat nodes, the control instruction is used to instruct the slave aerostat node to measure the position, and/or perform the measurement of the corresponding measurement position Task; receive the measurement data of the measurement task sent from the aerostat node at the measurement position; perform data measurement operations based on the measurement data, and achieve the purpose of automatically changing the measurement range according to the measurement task, thereby realizing the technology of improving the efficiency of high-altitude wind measurement Therefore, it solves the technical problem that the wind measurement range is small due to the fixed ground observation station, which limits the measurement range of high-altitude wind measurement.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is a structural diagram of a data measurement acquisition system according to an embodiment of the present invention;

Fig. 2 is a structural diagram of the main aerostat node in the data measurement and acquisition system according to an embodiment of the present invention;

3 is a structural diagram of the first communication terminal in the main aerostat node in the data measurement and acquisition system according to an embodiment of the present invention;

Fig. 4 is a structural diagram of the slave aerostat node in the data measurement and acquisition system according to an embodiment of the present invention;

5 is a structural diagram of the second communication terminal in the slave aerostat node in the data measurement and acquisition system according to an embodiment of the present invention;

Fig. 6 is a flowchart of a data measurement acquisition method according to an embodiment of the present invention;

Fig. 7 is a flowchart of a data measurement acquisition method according to an embodiment of the present invention;

8 is a schematic structural diagram of a data measurement and acquisition device according to Embodiment 2 of the present invention;

9 is a schematic structural diagram of a data measurement and acquisition device according to Embodiment 2 of the present invention;

10 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 2 of the present invention;

11 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 2 of the present invention;

Fig. 12 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 2 of the present invention;

13 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 2 of the present invention;

14 is a schematic structural diagram of a data measurement and acquisition device according to Embodiment 3 of the present invention;

15 is a schematic structural diagram of a data measurement and acquisition device according to Embodiment 3 of the present invention;

Fig. 16 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 3 of the present invention;

17 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 3 of the present invention; and

Fig. 18 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 3 of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

Example 1

An embodiment of the present invention provides a data measurement and acquisition system.

Fig. 1 is a structural diagram of a data measurement acquisition system according to an embodiment of the present invention. As shown in Figure 1, the data measurement and acquisition system includes the following: a master aerostat node 12, a slave aerostat node 14 and a ground measurement and control station 16, wherein,

The master aerostat node 12 establishes a communication connection with a plurality of slave aerostat nodes 14, and is used to control a plurality of slave aerostat nodes 14 to move to corresponding measurement positions, and obtain and analyze a plurality of slave aerostat nodes 14 in corresponding positions. The measurement data of the measurement position; the ground measurement and control station 16 establishes a communication connection with the master aerostat node 12, and is used to instruct the slave aerostat node 14 to perform a measurement task by controlling the master aerostat node 12.

Specifically, the main aerostat node 12 and the slave aerostat node 14 are mobile nodes, and the ground measurement and control station 16 is a fixed node. The ground measurement and control station 16 is mainly used to establish a communication connection with the main aerostat node 12. Acquire the position information of the main aerostat node 12 at intervals, so that emergency control instructions can be sent to the main aerostat node 12 when necessary. The node 12 is the control center of the entire data measurement and acquisition system (that is, the distributed high-altitude balloon wind measurement system), wherein the main aerostat node 12 functions mainly include three aspects, the first aspect is to communicate with the slave aerostat node 14 , to obtain the current position of the slave aerostat node 14 and the speed information corresponding to the current position; the second aspect is to send a control command to the slave aerostat node 14 when performing a control operation; the third aspect is to obtain the slave aerostat node 14 After receiving the control command, the response information of arriving at the target position set in the control command and the sailing speed data of arriving at the target position. The test cluster composed of multiple slave aerostat nodes 14 is the execution system of the data measurement and acquisition system, and its functions mainly include collecting the flight position during uncontrolled flight, the speed and time point data corresponding to the position, and regularly communicating with the main aerostat. The air vehicle node 12 establishes an antenna transmission link in the L frequency band of the antenna, and wirelessly transmits the current position, the speed corresponding to the current position, and the time point data to the main aerostat node 12 through the L frequency band.

It can be seen from the above that the master aerostat node 12 is used to send control instructions to the slave aerostat node 14, and the control instruction is used to instruct the slave aerostat node to measure the position, and/or perform the measurement task corresponding to the measurement position; The measurement data of the measurement task sent by the aerostat node 14 at the measurement position; the main aerostat node 12 analyzes and arranges the measurement data, and obtains the measurement results corresponding to the measurement data, which achieves The purpose of automatically changing the measurement range according to the measurement task is to achieve the technical effect of improving the efficiency of high-altitude wind measurement, and then solve the technical problem that the measurement range of high-altitude wind measurement is limited due to the small wind measurement range due to the fixed ground observation station.

Preferably, Fig. 2 is a structural diagram of a main aerostat node in a data measurement and acquisition system according to an embodiment of the present invention. As shown in Figure 2, the main aerostat node 12 includes: a first computer 121, a first power plant 122, a first communication terminal 123, a first aerostat 124 and a first carrier 125, wherein,

The first carrier 125 is used to carry the first computer 121 , the first power device 122 and the first communication terminal 123 .

The first computer 121 establishes a communication connection with the first power unit 122 and the first communication terminal 123 respectively, and is used to control the first power unit 122 to rise to a preset height or determine the current air position, and to communicate with the ground by controlling the first communication terminal 123. The measurement and control station 16 communicates with the aerostat node 14 and stores the measurement data sent from the aerostat node, wherein the first power unit 122 is a propeller structure power unit;

Specifically, the first computer 121 is used to control the first power unit 122 to ascend or descend to the altitude set by the first computer 121, or the air attitude of the main aerostat node 12 in the air; In addition to a power unit 122 , it is also used to control the first communication terminal 123 to communicate with the slave aerostat node 14 and the ground measurement and control station 16 respectively.

In addition to the above-mentioned functions, the first computer 121 also has the function of storing or calculating the measurement data sent from the aerostat node 14 received by the first communication terminal 123, wherein, in order to ensure that the first computer 121 It can operate normally and reduce the calculation burden. In the data measurement and acquisition system provided by the embodiment of the present invention, the first computer 121 stores the measurement data sent from the aerostat node 14 as the preferred solution, and after returning to the ground, it is handed over to the ground measurement and control station 16. Calculation and processing, or the first communication terminal 123 sends the received measurement data sent from the aerostat node 14 to the ground measurement and control station 16 according to a predetermined time interval, and the ground measurement and control station 16 performs calculation and processing on the data in time, thereby achieving an improvement Measures the efficiency of data processing.

The first aerostat 124 is connected to the first carrier 125 for providing air buoyancy for the first carrier 125; wherein, the first aerostat 124 can be a high-altitude weather balloon, so that the first carrier 125 is provided with rising air buoyancy .

Specifically, the first aerostat 124 is connected to the first carrier 125, and serves as the main power source of the entire main aerostat node 12, providing buoyancy for the main aerostat node to rise. Wherein, the first carrier 125 may be a structure of a hanging basket.

Preferably, Fig. 3 is a structural diagram of the first communication terminal in the main aerostat node in the data measurement and acquisition system according to an embodiment of the present invention. As shown in FIG. 3, the first communication terminal 123 includes: a first communication device 1231 and a second communication device 1232, wherein,

The first communication device 1231 is used to send control instructions to any one or more slave aerostat nodes 14;

The second communication device 1232 is used for receiving any one or more measurement data returned from the aerostat node.

Specifically, in the first communication terminal 123, the first communication device 1231 is used to send control instructions with low data volume requirements, and the second communication device 1232 is used to receive measurement data with high data volume requirements, wherein the first communication device 1231 can Send control commands for satellite communication equipment such as satellite communication terminals; the second communication device 1232 is used to transmit the measurement data from the aerostat node 14, and the stability, timeliness and capacity of the channel are all the same as the first communication device 1231 There are differences and higher requirements, so when the second communication device 1232 transmits and receives measurement data from the aerostat node, it can transmit a large amount of data through radio waves, such as the L-band, especially the transmission of measurement data.

Preferably, Fig. 4 is a structural diagram of the slave aerostat node in the data measurement and acquisition system according to the embodiment of the present invention. As shown in Fig. 4, the slave aerostat node 14 includes: a second computer 141, a second power unit 142, a second communication terminal 143, a second aerostat 144 and a second carrier 145, wherein the second carrier 145 uses To carry the second computer 141, the second power device 142 and the second communication terminal 143;

Specifically, the second carrier 145 in the slave aerostat node 14 has the same function as the first carrier 125 in the master aerostat node 12, which will not be repeated here, and is the basis for ensuring that the slave aerostat node 14 completes data measurement Assure. Wherein, the second carrier 145 may be a structure of a hanging basket. The second computer 141 establishes a communication connection with the second power plant 142 and the second communication terminal 143, and is used to control the second aerostat node 12 according to the control command received by the second communication terminal 143. The power device 142 will drive from the aerostat node 14 to a predetermined measurement position, and send measurement data to the main aerostat node 12 through the second communication terminal 143, wherein the second power device 142 is a propeller structure power device;

Specifically, the second computer 141 is a control function element in the slave aerostat node 14, and is used to control the second power device 142 and the second communication terminal 143 respectively, wherein the second computer 141 controls the second power device 142 according to the master The control instruction of the aerostat node 12 rises or reaches the position specified by the control instruction, and maintains the attitude in the air of the slave aerostat node 14; Ensuring a smooth communication connection between them, ensuring the normal sending and receiving of control commands and data transmission, is the fundamental guarantee for completing data measurement from the aerostat node 14.

The second aerostat 144 is connected with the second carrier 145 for providing air buoyancy for the second carrier 145; wherein, the second aerostat 144 can be a high-altitude weather balloon, so that the second carrier 145 is provided with rising air buoyancy .

Specifically, the second aerostat 144 provides an active power source for the entire slave aerostat node 14, and provides buoyancy for the slave aerostat node to ascend.

Preferably, Fig. 5 is a structural diagram of the second communication terminal in the slave aerostat node in the data measurement acquisition system according to an embodiment of the present invention. As shown in FIG. 5, the second communication terminal 143 includes: a third communication device 1431 and a fourth communication device 1432, wherein,

The third communication device 1431 is used to receive the control instruction sent by the master aerostat node 12;

The fourth communication means 1432 is used to return measurement data to the master aerostat node 12 .

Specifically, the third communication device 1431 corresponds to the first communication device 1231 in the main aerostat node 12, and is used to receive control instructions from the first communication device 1231; the fourth communication device 1432 corresponds to the first communication device 1231 in the main aerostat node 12. The second communication device 1232 , after receiving the test instruction for testing, sends the measurement data obtained according to the test instruction to the second communication device 1232 in the main aerostat node 12 through the fourth communication device 1432 .

What needs to be explained here is that the first power unit 122 in the master aerostat node 12 and the second power unit 142 in the slave aerostat node 14 provided by the embodiment of the present invention can be power units with a propeller structure, where the first The first power unit 122 and the second power unit 142 can adopt a cross-shaped propeller layout. In order to control the vertical up and down movement of the high-altitude balloon, the propeller adopts a pitch-variable propeller. When the pitch is negative, the high-altitude balloon can be controlled to move downward.

In the data measurement and acquisition system provided by the embodiment of the present invention, the first power unit 122 and the second power unit 142 are only described by taking the cross-shaped propeller layout as an example, and the data measurement and acquisition system provided by the embodiment of the invention shall prevail. There is no specific limit.

Example 2

An embodiment of the present invention provides a data measurement and acquisition method.

Fig. 6 is a flowchart of a data measurement acquisition method according to an embodiment of the present invention. As shown in Figure 6, a data measurement and acquisition method provided by the embodiment of the present invention is applicable to the data measurement and acquisition system described in Embodiment 1 corresponding to Figure 1, and the data measurement and acquisition method can be applied to the main aerostat node side , the data measurement acquisition method includes the following steps:

Step S602, sending a control command to any one or more slave aerostat nodes, the control command is used to indicate the measurement position of the slave aerostat node, and/or execute a measurement task corresponding to the measurement position.

Specifically, the data measurement acquisition method provided by the embodiment of the present invention can be applied to the master aerostat node, wherein, after the master aerostat node is lifted into the air, control instructions are sent to the slave aerostat nodes, wherein the control instructions are divided into the following Happening:

Case 1, when the master aerostat node rises to the preset height, the master aerostat node sends a control command for measuring the position to the slave aerostat node, so that the slave aerostat node moves to the control command according to the control command the measurement position;

Case 2: After the slave aerostat node moves to the measurement position, the master aerostat node sends the control command of the measurement task corresponding to the measurement position to the slave aerostat node, so that the slave aerostat node follows the control command Execute the measurement task at the measurement location;

In the third case, after the main aerostat node rises to the preset height, the main aerostat node will send the control command containing the measurement position and the measurement task at the measurement position to the slave aerostat node, so that the slave aerostat node The sensor node receives the control command before moving to the measurement position according to the control command, and arrives at the measurement position in the control command according to the control command to perform the corresponding measurement task.

Among them, the position information used in the control command to indicate the movement from the aerostat node to the measurement position can be a coordinate position including latitude and longitude, or a three-dimensional or two-dimensional coordinate position at the measurement height. This embodiment implements the data measurement acquisition method shall prevail, without limitation.

Step S604, receiving the measurement data of the measurement task sent from the aerostat node at the measurement position.

Specifically, according to step S602, after the master aerostat node sends a control command to the slave aerostat node, it receives the measurement data returned by the slave aerostat node according to the control command, wherein the measurement data is the slave aerostat node The node obtains the measurement data through measurement according to the measurement position and measurement task in the control instruction.

Step S606, analyzing the measurement data to obtain a measurement result corresponding to the measurement data.

Specifically, according to step S604, on the main aerostat node side, process, analyze and organize the measurement data received in step S604, and perform any of the following operations after sorting:

Operation 1, the main aerostat node stores the sorted measurement data;

Operation 2, the main aerostat node sends the sorted measurement data to the ground measurement and control station;

Operation 3, the main aerostat node stores the sorted measurement data, and brings the measurement data back to the ground measurement and control station after returning to the ground.

The foregoing embodiments of the present application provide a data measurement acquisition method. Send control instructions to the slave aerostat node, the control instruction is used to instruct the slave aerostat node to measure the position, and/or execute the measurement task corresponding to the measurement position; receive the measurement of the measurement task sent from the aerostat node at the measurement position Data; the data measurement is completed based on the measurement data, which achieves the purpose of changing the measurement range according to the measurement task, thereby achieving the technical effect of improving the efficiency of high-altitude wind measurement, and further solving the problem of the small wind measurement range caused by the fixed ground observation station. Technical issues on the measurement range of upper-altitude wind measurement.

Specifically, steps S602 to S606 provided by the above-mentioned embodiments of the present application can be run on the data measurement and acquisition system shown in Figure 1. Since the main aerostat node and multiple slave aerostat nodes are set, the main aerostat node After the aerostat node and multiple slave aerostat nodes are launched into the air, in the air part of the data measurement acquisition system, the main aerostat node can be used as the center (or center) of the entire aerial measurement, and the slave aerostat nodes are scattered in the main aerostat. Around the aerostat node, take the main aerostat node as the center of the circle, take the main aerostat node as the center of the circle, rise to the preset height according to the preset position stored in the main aerostat node, and follow the pre-stored control The slave aerostat node sends control commands to the slave aerostat node at the desired position, commanding the slave aerostat node to take the main aerostat node as the center of the circle, and the preset distance is the radius to reach the desired position, and then After the aerostat node arrives at the location, it performs the measurement task. Through this setting, the ground measurement and control station can obtain the measurement range and measurement data of the master aerostat node and the slave aerostat node, and because the data measurement acquires the main part of the air part of the system The aerostat node can reduce or expand the measurement area according to the needs of the measurement task, that is, the control slave aerostat node can reduce or expand the measurement area according to the different measurement tasks, making the measurement range more flexible and expanding on the basis of related technologies The measurement range of high-altitude measurement solves the technical problem that the measurement range of high-altitude wind measurement is limited due to the small wind measurement range due to the fixed ground observation station.

Compared with the existing high-altitude measurement method, the solution provided by the present application has the technical advantages of improving the measurement range of the high-altitude measurement that cannot be expanded by the existing technology, and improving the high-altitude wind measurement range.

Preferably, before step S602 sends control instructions to any one or more slave aerostat nodes, the data measurement acquisition method provided by the embodiment of the present invention may further include:

Step S599, ascend to the initial height according to the preset configuration.

Wherein, the preset configuration includes at least one of the following: track, initial height, wind measurement range, track includes latitude and longitude and time point sequence, and wind measurement range is used to determine the measurement position of the secondary aerostat node.

Specifically, in the embodiment of the present invention, the main aerostat node rises to the initial height according to the pre-configuration, wherein the preset configuration includes the flight track (ie, navigation track) of the main aerostat node during the entire measurement task, The wind measurement range on the flight track of the main aerostat node, that is, the measurement position where the main aerostat node needs to be located by the slave aerostat node. Among them, the track provided by the embodiment of the present invention includes latitude and longitude and time point sequence. Since the main aerostat node performs the measurement task, the actual track needs to correspond to the altitude parameter of each latitude and longitude in addition to the latitude and longitude, that is, the track It should be three-dimensional coordinates. In the embodiment of the present invention, the latitude and longitude are preferably used as a reference, and the data measurement and acquisition method shall prevail, which is not specifically limited.

In addition, the time point sequence corresponds to the latitude and longitude in the track, and also corresponds to the measurement position of the slave aerostat node, that is, the time point sequence is used to indicate the corresponding measurement position of the master aerostat node at each time point, specifically As shown in Table 1:

Table 1:

Among them, Table 1 shows the position coordinates of the main aerostat node and the position coordinates of the slave aerostat node corresponding to each time point, which are used to indicate the fixed-point detection and dynamic detection.

Corresponding table 1 can also exist. In a period of time, the position coordinates of the main aerostat node remain unchanged, and there is at least one position coordinate of the slave aerostat node, that is, fixed-point detection, and the detection area is continuously expanded by the slave aerostat node .

Step S600, receiving a first communication request sent from the aerostat node, the first communication request is used to establish a first communication link with the aerostat node.

Step S601, establishing a first communication link with the slave aerostat node according to the first communication request from the slave aerostat node, the first communication link is used to transmit a control command to the slave aerostat node.

Specifically, in combination with the first communication request from the aerostat node received in step S600, a first communication link is established between the master aerostat node and the aerostat node, wherein the first communication link is used to send The control instruction is transmitted from the aerostat node, corresponding to the structure of the main aerostat node in the data measurement and acquisition system in FIG. send.

Based on the preset configuration provided in the above embodiments, the step of sending control instructions to the slave aerostat node in step S602 provided by the embodiment of the present invention may include:

Step A, generate control instructions according to the preset configuration, the control instructions are used to indicate the measurement position of the slave aerostat node, and/or the measurement task corresponding to the measurement position, the measurement task includes at least one of the following: wind speed measurement, map surveying, aviation photography, weather forecast;

Specifically, corresponding to the data measurement and acquisition system shown in Figure 1, the control command is generated by the first computer 121, and the first computer 121 according to the preset configuration, will arrive at the high-altitude measurement position from the aerostat node, and the corresponding measurement position The measurement tasks performed by the location are packaged and packaged to generate control instructions.

Among them, the generated control instructions include the following situations:

In the first case, the control command is generated according to the measured position of the aerostat node;

That is, the master aerostat node generates control commands that carry the measurement positions that the slave aerostat nodes need to reach.

In the second case, the control command is generated according to the measurement task from the aerostat node;

That is, the master aerostat node generates control instructions that carry the measurement tasks that the slave aerostat nodes need to perform.

In the third case, the control command is generated according to the measurement position and measurement task of the slave aerostat node;

That is, the master aerostat node generates control commands that carry the measurement position and measurement tasks of the slave aerostat nodes.

The above three situations are the three situations in which the main aerostat node generates control instructions, that is, the main aerostat node can choose to generate control instructions that carry at least any of the following information: information 1, measurement position; information 2, measurement Task; Information 3, Measurement Location and Measurement Task. For both information 1 and information 2, since any one of information 1 and information 2 is sent as a control command first, it will not affect the completion of the entire measurement task, because after information 1 and information 2 are sent to the slave aerostat node , if the master aerostat node receives the confirmation feedback from the slave aerostat node, it can send the corresponding missing part. For example, assuming that the control command generated by the master aerostat node only carries the measured position, after receiving After the confirmation feedback of the aerostat node, the measurement task corresponding to the measurement position can be sent to the slave aerostat node; therefore, the above information 1 and information 2 can be used as one of the types of control instructions alone.

Step B, sending a control instruction to the slave aerostat node through the first communication link.

Specifically, the master aerostat node sends the control instruction generated in step A to the slave aerostat node via the first communication link through the first communication device 1231 in the first communication terminal 123 .

In addition, in addition to the above-mentioned types of control instructions, the master aerostat node can correct the current position coordinates of the slave aerostat node according to the current position of the slave aerostat node carried in the received first communication request, The process can be as follows:

Step1. Receive the first communication request;

Step2. Analyze the first communication request and obtain the current position coordinates of the slave aerostat node;

Step3. According to the current position coordinates, compare with the pre-stored position coordinates required to arrive from the aerostat node, and generate a control command for correction;

Step4. Send the control command to the slave aerostat node;

Wherein, the correction instruction is sent to the secondary aerostat node through the first communication device 1231 in the first communication terminal 123 .

Step5. Receive confirmation feedback from the aerostat node.

It can be seen from the above that the process from Step 1 to Step 5 is the process of correcting the position coordinates of the slave aerostat node for the master aerostat node, and correcting the position coordinates of the slave aerostat node by sending the control command. The control command provided by the embodiment of the present invention, The data measurement and acquisition method shall prevail, and there is no specific limitation.

In addition, the master aerostat node and the slave aerostat node periodically send test instructions on the first communication link to determine the connection status between the master aerostat node and the slave aerostat node, so as to ensure that the first First, the slave aerostat node is within the control range of the master aerostat node; second, the first communication link between the slave aerostat node and the master aerostat node remains unobstructed.

Preferably, before receiving the measurement data corresponding to the measurement task sent from the aerostat node at the measurement position in step S604, the data measurement acquisition method provided by the embodiment of the present invention may further include:

Step S603, receiving a second communication request sent from the aerostat node, the second communication request is used to establish a second communication link with the aerostat node;

Step S605, establishing a second communication link with the slave aerostat node according to the second communication request from the aerostat node, the second communication link is used to receive measurement data sent from the aerostat node;

Specifically, in combination with the second communication request from the aerostat node received in step S603, a second communication link is established between the master aerostat node and the aerostat node, wherein the second communication link is used to send The control command transmitted from the aerostat node corresponds to the structure of the main aerostat node in the data measurement and acquisition system in FIG. 1 , and the second communication request and measurement data are received by the second communication device 1232 in the first communication terminal 123 .

Based on the second communication link provided in the above embodiment, the step of receiving the measurement data corresponding to the measurement task sent from the aerostat node at the measurement position in step S604 provided by the embodiment of the present invention may include:

The measurement data at the measurement position from the aerostat node is received through the second communication link according to a preset period.

Specifically, on the basis of establishing a second communication link between the master aerostat node and the slave aerostat node, when the slave aerostat node performs measurement tasks, the master aerostat node receives the The measurement data corresponding to the measurement location sent by the air-conditioning node.

Based on the data measurement and acquisition method provided by the above-mentioned embodiments of the present invention, the step of analyzing the measurement data and obtaining the measurement results corresponding to the measurement data through one of the following methods, step S606, includes any of the following implementation methods:

Method 1, storing measurement data;

Specifically, the data measurement and acquisition method provided by the embodiment of the present invention, in combination with the data measurement and acquisition system shown in FIG. The measurement data received from the aerostat node can be stored first, until the measurement task is completed and returned to the ground, the surveyors will bring it back to the ground measurement and control station for data sorting, analysis, and processing.

Mode 2, sending a third communication request to the ground measurement and control station, where the third communication request is used to establish a third communication link with the ground measurement and control station;

The measurement data is sent to the ground measurement and control station through the established third communication link.

Specifically, the data measurement and acquisition method provided by the embodiment of the present invention is combined with the data measurement and acquisition system shown in Figure 1. A third communication link is established between the air vehicle node and the ground measurement and control station, and after the main aerostat node receives the measurement data sent from the aerostat node, it is sent to the ground measurement and control station through the third communication link, wherein, The master aerostat node sends the measurement data to the ground measurement and control station through the second communication device 1232 in the first communication terminal 123 via the third communication link.

The data measurement and acquisition method provided by the embodiment of the present invention, based on the above steps S602 to S606, combined with the data measurement and acquisition system shown in Figure 1, provides the following measurement scheme:

The first type of measurement scheme: fixed-point measurement

1. On the ground, the main aerostat node is loaded with the planned track (latitude and longitude, time point sequence), initial height, and wind measurement range (the position of the slave aerostat node relative to the main aerostat node);

2. On the ground, load the initial height from the aerostat node, the initial height of the slave aerostat node is the same as the initial height of the main aerostat node;

3. Fly the main aerostat node first, establish a connection with the ground measurement and control station through the Yixing terminal when the main high-altitude aerostat node is parked at a fixed height, and then release the slave aerostat nodes in turn;

4. When each slave aerostat node reaches the specified initial altitude, it will actively establish a connection with the main aerostat node through the Yixing terminal;

5. The master aerostat node sends a control instruction to the slave aerostat node through the Yixing terminal, wherein the control instruction includes position information to move the slave aerostat node to a predetermined position;

6. From the aerostat node, adjust the second power unit through the corresponding control algorithm, so that the deviation between the actual position (obtained by the GPS device) and the control command in step 5 (from the aerostat node position) is within a certain range;

7. After the adjustment of the second power unit is completed, the slave aerostat node enters the state of unpowered movement with the wind, and the control computer reads the speed and position from the GPS device within a certain time interval, and saves it in the slave aerostat. In the storage medium of the server node control computer;

8. After the slave aerostat node receives the data request from the main aerostat node through the Yixing terminal, it establishes an L-band connection with the main aerostat node, and transfers the position, speed, time point, etc. The data is transmitted to the main aerostat node, and the main aerostat node saves the measurement data in the storage medium of the first computer of the main aerostat node;

9. At the end of the wind measurement process, the ground measurement and control station sends a recovery command to the main aerostat node (designate the recovery point location);

10. Under the control of the first computer, in addition to adjusting the first power plant, the main aerostat node sends a landing and recovery command to the slave aerostat node, so that the slave aerostat node and the main aerostat node land and recover ;

11. Process the corresponding data (position, speed, time point) in each slave aerostat node, and calculate the wind speed of the entire wind measurement area through data processing.

The second type of measurement scheme: dynamic measurement

1. The ground measurement and control station sends the main aerostat node movement command (including the position of the moving target point);

2. The main aerostat node adjusts the first power unit to move to the corresponding position under the control of the first computer;

3. The master aerostat node calculates the expected target position of the slave aerostat node;

4. The master aerostat node sends a movement command to the slave aerostat node to move the slave aerostat node to the desired target position;

5. Same as step 6 in the first type of measurement scheme.

The embodiments of the present invention make the upper-altitude wind measurement automatic, intelligent, all-weather, and in a large range, and after load modification, different types of distributed detection and measurement tasks can be realized.

The embodiment of the present invention adopts the mode of communication between the master-slave aerostat node, the slave aerostat node, and the ground measurement and control station, and the master aerostat node controls and collects data from the slave aerostat node, which can realize the The automation and intelligence of the measurement, and because the main aerostat node can set the offline track, it can realize a wide range of high-altitude wind measurement, and because it uses GPS for positioning and tracking, it can realize all-weather high-altitude measurement, and Not affected by weather conditions such as smog. And because of the flexible design, the load can be adapted to different types of tasks with a little modification.

Example 3

An embodiment of the present invention provides a data measurement and acquisition method.

Fig. 7 is a flowchart of a data measurement acquisition method according to an embodiment of the present invention. As shown in Figure 7, a data measurement and acquisition method provided by the embodiment of the present invention is applicable to the data measurement and acquisition system described in the first embodiment corresponding to Figure 1, and the data measurement and acquisition method can be applied to the aerostat node side , the data measurement acquisition method includes the following steps:

Step S702, receiving a control command sent by the main aerostat node, the control command is used to indicate the measurement position, and/or execute a measurement task corresponding to the measurement position.

Specifically, the data measurement and acquisition method provided by the embodiment of the present invention can be applied to the slave aerostat node, wherein, after the slave aerostat node lifts off, when the slave aerostat node reaches the same height as the main aerostat node When , the receiving main aerostat node sends control commands, where the control commands are divided into the following cases:

Case 1, when the slave aerostat node reaches the same height as the main aerostat node, the slave aerostat node receives the control command sent by the master aerostat node to measure the position, so that the slave aerostat node moves according to the control command to the measurement position in the control instruction;

Case 2: After the slave aerostat node rises to the measurement position, the master aerostat node sends the control command of the measurement task corresponding to the measurement position, so that the slave aerostat node executes at the measurement position according to the control command measurement tasks;

In the third case, the slave aerostat node receives the control command sent by the master aerostat node, which includes the measurement position and the measurement task at the measurement position, so that the slave aerostat node receives the control command before moving to the measurement position according to the control command. to the control instruction, and according to the control instruction to arrive at the measurement position in the control instruction to perform the corresponding measurement task.

Step S704, executing the measurement task at the measurement position according to the measurement position in the control instruction;

Specifically, according to step S702, after the slave aerostat node receives the control command sent by the master aerostat node, the measurement data corresponding to the measurement task is fed back according to the control command, wherein the measurement data is the slave aerostat node according to The measurement position and measurement task in the control instruction obtain the measurement data through measurement.

Step S706, returning the measurement data of the measurement task to the master aerostat node.

Specifically, according to step S704, after receiving the control command from the aerostat node, the measurement task is executed, and the measurement data corresponding to the measurement task is sent back to the main aerostat node.

The foregoing embodiments of the present application provide a data measurement acquisition method. The control command sent by the main aerostat node is received, and the control command is used to indicate the measurement position, and/or execute the measurement task corresponding to the measurement position. Execute the measurement task at the measurement position according to the measurement position in the control command. Send the measurement data of the measurement task to the master aerostat node. It achieves the purpose of automatically changing the measurement range according to the measurement task, thereby achieving the technical effect of improving the efficiency of high-altitude wind measurement, and then solving the problem that the measurement range of high-altitude wind measurement is limited due to the small wind measurement range due to the fixed ground observation station question.

Preferably, before step S702 receiving the control command sent by the master aerostat node, the data measurement acquisition method provided by the embodiment of the present invention may further include:

Step S701, sending a first communication request to the main aerostat node, the first communication request is used to establish a first communication link with the main aerostat node.

Specifically, after the slave aerostat node rises to the same height as the master aerostat node, the slave aerostat node sends a first communication request to the master aerostat node, so that the master aerostat node receives the first After the communication request, a first communication link is established between the master aerostat node and the slave aerostat node, wherein the slave aerostat node receives the control command sent by the master aerostat node through the first communication link, corresponding to In the structure of the slave aerostat node in the data measurement acquisition system in FIG. 1 , the first communication request is sent through the third communication device 1431 in the second communication terminal 143 .

Preferably, the step of receiving the control instruction sent by the main aerostat node in step S702 may include:

The control command sent by the main aerostat node is received through the first communication link. The control command is used to indicate the measurement position, and/or the measurement task corresponding to the measurement position. The measurement task includes at least one of the following: wind speed measurement, map surveying, aviation Shooting, weather forecasting.

Specifically, in combination with the structure of the slave aerostat node of the data measurement acquisition system shown in FIG. 1 , the slave aerostat node receives the control command sent by the master aerostat node through the first communication link through the third communication device 1431 .

Preferably, before the measurement data of the measurement task is returned to the main aerostat node in step S706, the data measurement acquisition method provided by the implementation of the present invention may further include:

Step S705, sending a second communication request to the main aerostat node, where the second communication request is used to establish a second communication link with the main aerostat node.

Specifically, after the slave aerostat node receives the control command, in order to transmit the measurement data of the measurement task performed by the slave aerostat node to the master aerostat node after receiving the control command, due to the data volume of the measurement data compared with the control Instructions have high requirements for communication link instructions, so in order to ensure that the first communication link between the slave aerostat node and the master aerostat node is not occupied, the slave aerostat node sends the second aerostat node to the master aerostat node. The communication request is used for establishing a second communication link for measurement data transmission between the master aerostat node and the slave aerostat node.

Based on the data measurement acquisition method provided by the above-mentioned embodiments of the present invention, the step of returning the measurement data of the measurement task to the main aerostat node in step S706 may include:

The measurement data of the measurement position is returned to the main aerostat node through the second communication link according to a preset period.

Specifically, on the basis of establishing a second communication link with the main aerostat node, after the slave aerostat node performs the measurement task, the slave aerostat node sends each Measurement data corresponding to each measurement task corresponding to the measurement location.

To sum up, in combination with the data measurement acquisition system provided in Figures 1 to 5, and the data measurement acquisition method provided in Figures 6 and 7, when performing the data measurement task of wind measurement, the main aerostat node 12 will After measuring the position, send a control command to the slave aerostat node 14, so that the slave aerostat node 14 moves from the current position to the measurement position specified in the control command, and after the slave aerostat node 14 arrives at the measurement position, The aerostat node 14 measures the wind speed, wind direction, humidity, air temperature, air pressure and other wind measurement tasks of the current position A in the air according to the measurement task in the control command, that is, the wind measurement task, and further performs the wind measurement task at the position A in the air. The measurement data is fed back to the main aerostat node 12, and the measurement data is stored and organized by the main aerostat node 12, or stored first and then sorted out, and finally brought back to the ground measurement and control station; in addition, if the main aerostat node 12 needs To expand the measurement range, the slave aerostat node can be moved from the current air position A to the air position B by sending a control command to the slave aerostat node, so that the expanded range is: based on the current position of the main aerostat node 12 The current position of the main aerostat node 12 is the center of the circle, and the radius of the circular track area is the distance X km from the current position of the main aerostat node 12 to the air position B, and the wind measurement task is performed on the circular track area.

Wherein, when the slave aerostat node 14 in the data measurement and acquisition system is multiple nodes, the main aerostat node 12 can be taken as the center (or, the center of the circle), and the measurement can be changed along with the movement of the main aerostat node 12. range, and can also expand or reduce the measurement range according to the control command of the main aerostat node 12, so that the execution of the measurement task is more variable and effective (that is, the measurement area is executed in real time according to the measurement range of the actual measurement task. measurement task).

The data measurement and acquisition methods provided by Embodiment 2 and Embodiment 3 of the present invention respectively describe the data measurement and acquisition methods from the perspectives of the master aerostat node and the slave aerostat node. Among them, Embodiment 2 and Embodiment 3 is based on the data measurement and acquisition system shown in Figure 1 in Embodiment 1. In actual measurement, in addition to wind measurement tasks, the data measurement and acquisition system provided by the embodiment of the present application can also perform map surveying and aerial photography. , weather forecast and other measurement tasks, in which the main aerostat node can carry multiple slave aerostat nodes according to different measurement tasks, so as to form a measurement network at high altitude, and the ground measurement and control station can communicate with the main aerostat node The communication link between them sends operation instructions to the master aerostat node, so that the master aerostat node controls the slave aerostat node to expand or reduce the measurement range, and the master aerostat node, the slave aerostat node and the ground measurement and control The communication link between the stations can realize the timely acquisition of measurement data in the measured area, and can expand the measurement range according to the measurement task, providing a more efficient measurement method for high-altitude measurement.

It should be noted that for the foregoing method embodiments, for the sake of simple description, they are expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. Because of the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to enable a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

Example 4

According to an embodiment of the present invention, an embodiment of a device for implementing the above method is also provided, and the device provided in the above embodiments of the present application can run on the main aerostat node.

FIG. 8 is a schematic structural diagram of a data measurement and acquisition device according to Embodiment 2 of the present invention.

As shown in FIG. 8 , at the main aerostat node side, the data measurement acquisition device may include: a sending module 82, a first receiving module 84 and a measurement module 86, wherein,

The sending module 82 is configured to send a control command to any one or more slave aerostat nodes, the control command is used to indicate the measurement position of the slave aerostat node, and/or perform a measurement task corresponding to the measurement position;

The first receiving module 84 is used to receive the measurement data of the measurement task sent from the aerostat node at the measurement position;

The measuring module 86 establishes an electrical connection and communication connection with the first receiving module 84, and is used for analyzing the measurement data received by the first receiving module 84, and obtaining a measurement result corresponding to the measurement data.

Specifically, it can be seen from the main aerostat node 12 corresponding to FIG. 2 that in order to realize the data acquisition method through the data acquisition device provided in this embodiment on the main aerostat node side, the sending module 82 and the first receiving module 84 correspond to FIG. 2 The first communication terminal 123 in the main aerostat node 12 and the measurement module 86 correspond to the first calculator 121 in the main aerostat node 12 in FIG. 2 .

Preferably, FIG. 9 is a schematic structural diagram of a data measurement and acquisition device according to Embodiment 2 of the present invention. As shown in FIG. 9, the data measurement and acquisition device further includes: a power module 79, a second receiving module 80 and a first chain road building module 81, wherein,

The power module 79 is used to ascend to the initial height according to the preset configuration before sending control commands to any one or more slave aerostat nodes;

The second receiving module 80 is configured to receive a first communication request sent from the aerostat node, and the first communication request is used to establish a first communication link with the aerostat node;

The first link establishment module 81 is used to establish a communication connection with the second receiving module 80, and is used to establish a first link with the slave aerostat node according to the first communication request received by the second receiving module 80 from the aerostat node. A communication link, the first communication link is used to transmit control instructions to the slave aerostat node;

Wherein, the preset configuration includes at least one of the following: track, initial height, wind measurement range, track includes latitude and longitude and time point sequence, and wind measurement range is used to determine the measurement position of the secondary aerostat node.

Specifically, in order to implement the data acquisition method on the side of the main aerostat node through the data acquisition device provided in this embodiment, the function of the power module 79 corresponds to the first power device 122 and the first buoyancy device 122 in the main aerostat node 12 in Figure 2 . The functions of the aerostat 124 and the first carrier 125; the second receiving module 80 and the first link establishing module 81 correspond to the first communication terminal 123 in the main aerostat node 12 in FIG. 2 .

Based on the data measurement and acquisition device provided in the above embodiments, FIG. 10 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 2 of the present invention. As shown in FIG. 10 , the sending module 82 includes: an instruction generating unit 821 and an instruction The sending unit 822, wherein,

The command generating unit 821 is configured to generate a control command according to a preset configuration, the control command is used to indicate the measurement position of the secondary aerostat node, and/or the measurement task corresponding to the measurement position, and the measurement task includes at least one of the following: wind speed measurement, Map surveying, aerial photography, weather forecasting;

The instruction sending unit 822 is configured to establish a communication connection with the instruction generating unit 821, and is configured to send the control instruction generated by the instruction generating unit 821 to the secondary aerostat node through the first communication link.

Specifically, the function of the instruction generating unit 821 corresponds to the first computer 121 in the main aerostat node 12 in FIG. 2 , and the function of the instruction sending unit 822 corresponds to the first computer 123 in the main aerostat node 12 in FIG. The first communication device 1231 .

Preferably, FIG. 11 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 2 of the present invention. As shown in FIG. 11 , the data measurement and acquisition device further includes: a third receiving module 83 and a second link establishment module 85, of which,

The third receiving module 83 is used to receive the second communication request sent from the aerostat node before receiving the measurement data corresponding to the measurement task sent from the aerostat node at the measurement position, and the second communication request is used to communicate with the aerostat node. The air node establishes a second communication link;

The second link establishment module 85 is used to establish a communication connection with the third receiving module 83, and is used to establish a second link with the slave aerostat node according to the second communication request received by the third receiving module 83 from the aerostat node. A communication link, the second communication link is used to receive measurement data sent from the aerostat node.

Preferably, FIG. 12 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 2 of the present invention. As shown in FIG. 12, the first receiving module 84 includes:

The receiving unit 841 is configured to receive measurement data from the aerostat node at the measurement position according to a preset period through the second communication link.

Specifically, the functions of the third receiving module 83 , the second link establishing module 85 and the first receiving module 84 correspond to the second communication device 1232 in the first communication terminal 123 in the main aerostat node 12 in FIG. 3 .

Preferably, FIG. 13 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 2 of the present invention. As shown in FIG. 13 , the measurement module 86 includes: a storage unit 861, a request sending unit 862 and a data sending unit 863, in,

a storage unit 861, configured to store measurement data; or,

The request sending unit 862 is configured to send a third communication request to the ground measurement and control station, and the third communication request is used to establish a third communication link with the ground measurement and control station;

The data sending unit 863 is configured to send measurement data to the ground measurement and control station through the established third communication link.

Specifically, the function of the storage unit 861 corresponds to the first computer 121 in the main aerostat node 12 in FIG. 2 , and the functions of the request sending unit 862 and the data sending unit 863 correspond to the first communication terminal in the main aerostat node 12 in FIG. 2 123.

Example 5

According to an embodiment of the present invention, an embodiment of a device for implementing the above method is also provided, and the device provided by the above embodiments of the present application can run on the slave aerostat node.

FIG. 14 is a schematic structural diagram of a data measurement and acquisition device according to Embodiment 3 of the present invention.

As shown in Figure 14, on the slave aerostat node side, the data measurement acquisition device may include: an instruction receiving module 1402, a measurement module 1404 and a data sending module 1406, wherein,

The command receiving module 1402 is used to receive the control command sent by the main aerostat node, the control command is used to indicate the measurement position, and/or execute the measurement task corresponding to the measurement position;

The measurement module 1404 establishes a communication connection with the instruction receiving module 1402, and is used to perform the measurement task at the measurement location according to the measurement location in the control instruction;

The data sending module 1406 is used to return the measurement data of the measurement task to the master aerostat node.

Specifically, as can be seen from the slave aerostat node 14 corresponding to FIG. 4 , in order to realize the data acquisition method through the data acquisition device provided in this embodiment on the slave aerostat node side, the functions of the instruction receiving module 1402 and the data sending module 1406 correspond to From the second communication terminal 143 in the aerostat node 14 , the function of the measurement module 1404 corresponds to the second computer 141 in the aerostat node 14 .

Preferably, FIG. 15 is a schematic structural diagram of a data measurement and acquisition device according to Embodiment 3 of the present invention. As shown in FIG. 15, the data measurement and acquisition device further includes:

The sending module 1401 is configured to send a first communication request to the main aerostat node before receiving the control instruction sent by the main aerostat node, and the first communication request is used to establish a first communication link with the main aerostat node.

Based on the data measurement and acquisition device provided in the above embodiments, FIG. 16 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 3 of the present invention. As shown in FIG. 16 , the instruction receiving module 1402 includes:

The instruction receiving unit 14021 is configured to receive the control instruction sent by the main aerostat node through the first communication link, the control instruction is used to indicate the measurement position, and/or the measurement task corresponding to the measurement position, and the measurement task includes at least one of the following: Wind speed measurement, map surveying, aerial photography, weather forecast.

Specifically, the functions of the sending module 1401 and the command receiving module 1402 in the command receiving module 1402 correspond to the third communication device 1431 in the second communication terminal 143 of the slave aerostat node 14 in FIG. 5 .

Preferably, FIG. 17 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 3 of the present invention. As shown in FIG. 17, the data measurement and acquisition device further includes:

The request sending module 1405 is used to send a second communication request to the main aerostat node before returning the measurement data of the measurement task to the main aerostat node, the second communication request is used to establish a second communication with the main aerostat node link.

Based on the data measurement and acquisition device provided in the above embodiments, FIG. 18 is a schematic structural diagram of another data measurement and acquisition device according to Embodiment 3 of the present invention. As shown in FIG. 18, the data sending module 1406 includes:

The data sending unit 14061 is configured to return the measurement data of the measurement position to the main aerostat node through the second communication link according to a preset cycle.

Specifically, the function of the data sending unit 14061 in the request sending module 1405 and the data sending module 1406 corresponds to the fourth communication device 1432 in the second communication terminal 143 of the secondary aerostat node 14 in FIG. 5 .

Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can be Including: a flash disk, a read-only memory (Read-Only Memory, ROM), a random access device (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.

Claims (29)

1. A data measurement acquisition system, comprising:

a main aerostat node, a slave aerostat node and a ground measurement and control station, wherein,

the master aerostat node establishes communication connection with the plurality of slave aerostat nodes, and is used for controlling the plurality of slave aerostat nodes to move to corresponding measuring positions and acquiring and analyzing measuring data of the plurality of slave aerostat nodes at the measuring positions;

the ground measurement and control station is in communication connection with the master aerostat node and used for controlling the master aerostat node to indicate the slave aerostat node to execute a measurement task;

wherein the measurement task comprises at least one of: wind speed measurement, map mapping, aerial photography and weather forecasting;

after the master aerostat node and the slave aerostat node are lifted off, the master aerostat node is a control center of the whole data measurement and acquisition system, wherein the functions of the master aerostat node comprise three aspects, the first aspect is that the master aerostat node communicates with the slave aerostat node to acquire the current position of the slave aerostat node and speed information corresponding to the current position; the second aspect is that when a control operation is performed, a control instruction is sent to the slave aerostat node; the third aspect is that response information of a target position set in an arrival control instruction after the slave aerostat node receives the control instruction and navigation speed data of the target position are obtained; the test cluster formed by a plurality of slave aerostat nodes is an execution system of the data measurement and acquisition system, and comprises the steps of collecting flight positions during uncontrolled flight, speeds corresponding to the positions and time point data, regularly establishing antenna transmission links of an antenna L frequency band with the master aerostat nodes, and wirelessly transmitting the current positions, the speeds corresponding to the current positions and the time point data to the master aerostat nodes through the L frequency band.

2. The data measurement acquisition system of claim 1, wherein the primary aerostat node comprises: a first computer, a first power device, a first communication terminal, a first aerostat, and a first carrier, wherein,

the first carrier is used for carrying the first computer, the first power device and the first communication terminal;

the first computer is in communication connection with the first power device and the first communication terminal respectively, and is used for controlling the first power device to ascend to a preset height or determining the current air position, controlling the first communication terminal to communicate with the ground measurement and control station or the slave aerostat node, and storing measurement data sent by the slave aerostat node;

the first aerostat is connected with the first carrier and used for providing air buoyancy for the first carrier.

3. The data measurement acquisition system of claim 2 wherein the first power plant is a propeller configuration power plant.

4. The data measurement acquisition system according to claim 2, wherein the first communication terminal includes: a first communication device and a second communication device, wherein,

the first communication device is used for sending a control instruction to any one or more slave aerostat nodes;

the second communication device is used for receiving the measurement data returned from the aerostat node or nodes.

5. The data measurement acquisition system of claim 1, wherein the slave aerostat node comprises: a second computer, a second power device, a second communication terminal, a second aerostat, and a second carrier, wherein,

the second carrier is used for carrying the second computer, the second power device and the second communication terminal;

the second computer establishes communication connection with the second power device and the second communication terminal, and is used for controlling the second power device to reach a measurement position corresponding to a control instruction according to the control instruction of the main aerostat node received by the second communication terminal, and sending measurement data to the main aerostat node through the second communication terminal; the second aerostat is connected with the second carrier and is used for providing air buoyancy for the second carrier.

6. The data measurement acquisition system of claim 5 wherein the second power plant is a propeller configuration power plant.

7. The data measurement acquisition system according to claim 5, wherein the second communication terminal comprises: a third communication device and a fourth communication device, wherein,

the third communication device is used for receiving the control instruction sent by the main aerostat node;

the fourth communication device is configured to return the measurement data to the master aerostat node.

8. A data measurement acquisition method applied to the data measurement acquisition system according to any one of claims 1 to 7, comprising:

sending a control instruction to any one or more slave aerostat nodes, wherein the control instruction is used for indicating the measurement positions of the slave aerostat nodes and/or executing measurement tasks corresponding to the measurement positions;

receiving measurement data of the measurement task sent from the aerostat node at the measurement position;

analyzing the measurement data to obtain a measurement result corresponding to the measurement data;

wherein the measurement task comprises at least one of: wind speed measurement, map mapping, aerial photography and weather forecasting;

after the master aerostat node and the slave aerostat node are lifted off, the master aerostat node is a control center of the whole data measurement and acquisition system, wherein the master aerostat node has three functions, and the first aspect is that the master aerostat node is communicated with the slave aerostat node to acquire the current position of the slave aerostat node and speed information corresponding to the current position; the second aspect is that when a control operation is performed, a control instruction is sent to the slave aerostat node; the third aspect is that response information of a target position set in an arrival control instruction after the slave aerostat node receives the control instruction and navigation speed data of the target position are obtained; the test cluster formed by a plurality of slave aerostat nodes is an execution system of the data measurement and acquisition system, and comprises the steps of collecting flight positions during uncontrolled flight, speeds corresponding to the positions and time point data, regularly establishing antenna transmission links of an antenna L frequency band with the master aerostat nodes, and wirelessly transmitting the current positions, the speeds corresponding to the current positions and the time point data to the master aerostat nodes through the L frequency band.

9. The method of claim 8, wherein prior to sending control instructions to any one or more of the slave aerostat nodes, further comprising:

rising to an initial height according to a preset configuration;

receiving a first communication request sent by the slave aerostat node, the first communication request being used for establishing a first communication link with the slave aerostat node;

establishing the first communication link with the slave aerostat node in accordance with the first communication request of the slave aerostat node, the first communication link being used for transmitting control instructions to the slave aerostat node;

wherein the preset configuration comprises at least one of: the system comprises a flight path, an initial height and a wind measuring range, wherein the flight path comprises longitude and latitude and a time point sequence, and the wind measuring range is used for determining the measuring position of the slave aerostat node.

10. The method of claim 9, wherein the step of sending control instructions to any one or more of the slave aerostat nodes comprises:

generating the control instruction according to a preset configuration, wherein the control instruction is used for indicating a measurement position of the slave aerostat node and/or a measurement task corresponding to the measurement position, and the measurement task comprises at least one of the following: wind speed measurement, map mapping, aerial photography and weather forecasting;

sending control instructions to the slave aerostat node over the first communication link.

11. The method of claim 8, wherein prior to receiving the measurement data corresponding to the measurement task sent from the aerostat node at the measurement location, further comprising:

receiving a second communication request sent by the slave aerostat node, wherein the second communication request is used for establishing a second communication link with the slave aerostat node;

establishing the second communication link with the slave aerostat node according to the second communication request of the slave aerostat node, the second communication link being used for receiving the measurement data sent by the slave aerostat node.

12. The method of claim 11, wherein the receiving the measurement data corresponding to the measurement task sent from the aerostat node at the measurement location comprises:

and receiving the measurement data of the slave aerostat node at the measurement position according to a preset period through the second communication link.

13. The method of claim 8, wherein the step of analyzing the measurement data to obtain the measurement result corresponding to the measurement data comprises any one of the following embodiments:

in a first mode, the measurement data is stored;

in a second mode, a third communication request is sent to the ground measurement and control station, and the third communication request is used for establishing a third communication link with the ground measurement and control station;

and sending the measurement data to the ground measurement and control station through the established third communication link.

14. A data measurement acquisition method applied to the data measurement acquisition system according to any one of claims 1 to 7, comprising:

receiving a control instruction sent by the main aerostat node, wherein the control instruction is used for indicating a measurement position and/or executing a measurement task corresponding to the measurement position;

executing the measurement task at the measurement location in accordance with the measurement location in the control instruction;

returning the measurement data of the measurement task to the main aerostat node;

wherein the measurement task comprises at least one of: wind speed measurement, map mapping, aerial photography and weather forecasting;

after the master aerostat node and the slave aerostat node are lifted off, the master aerostat node is a control center of the whole data measurement and acquisition system, wherein the master aerostat node has three functions, and the first aspect is that the master aerostat node is communicated with the slave aerostat node to acquire the current position of the slave aerostat node and speed information corresponding to the current position; the second aspect is that when a control operation is performed, a control instruction is sent to the slave aerostat node; the third aspect is that response information of a target position set in an arrival control instruction after the slave aerostat node receives the control instruction and navigation speed data of the target position are obtained; the test cluster formed by a plurality of slave aerostat nodes is an execution system of the data measurement and acquisition system, and comprises the steps of collecting flight positions during uncontrolled flight, speeds corresponding to the positions and time point data, regularly establishing antenna transmission links of an antenna L frequency band with the master aerostat nodes, and wirelessly transmitting the current positions, the speeds corresponding to the current positions and the time point data to the master aerostat nodes through the L frequency band.

15. The method of claim 14, wherein prior to receiving the control instruction sent by the primary aerostat node, further comprising:

sending a first communication request to the primary aerostat node, the first communication request being for establishing a first communication link with the primary aerostat node.

16. The method of claim 15, wherein the receiving the control instruction sent by the master aerostat node comprises:

receiving a control instruction sent by the primary aerostat node through the first communication link, wherein the control instruction is used for indicating a measurement position and/or a measurement task corresponding to the measurement position, and the measurement task includes at least one of the following: wind speed measurement, mapping, aerial photography and weather forecasting.

17. The method of claim 14, wherein prior to returning measurement data for the measurement task to the primary aerostat node, further comprising:

and sending a second communication request to the main aerostat node, wherein the second communication request is used for establishing a second communication link with the main aerostat node.

18. The method of claim 17, wherein the returning measurement data for the measurement task to the primary aerostat node comprises:

and returning the measurement data of the measurement position to the main aerostat node through the second communication link according to a preset period.

19. A data measurement acquisition device, comprising:

the sending module is used for sending a control instruction to any one or more slave aerostat nodes, wherein the control instruction is used for indicating the measurement positions of the slave aerostat nodes and/or executing measurement tasks corresponding to the measurement positions;

a first receiving module, configured to receive measurement data of the measurement task sent from the aerostat node at the measurement location;

the measurement module is used for analyzing the measurement data to obtain a measurement result corresponding to the measurement data;

wherein the measurement task comprises at least one of: wind speed measurement, map mapping, aerial photography and weather forecasting;

after the master aerostat node and the slave aerostat node are lifted off, the master aerostat node is a control center of the whole data measurement and acquisition system, wherein the master aerostat node has three functions, and the first aspect is that the master aerostat node is communicated with the slave aerostat node to acquire the current position of the slave aerostat node and speed information corresponding to the current position; the second aspect is that when a control operation is performed, a control instruction is sent to the slave aerostat node; the third aspect is that response information of a target position set in an arrival control instruction after the slave aerostat node receives the control instruction and navigation speed data of the target position are obtained; the test cluster formed by a plurality of slave aerostat nodes is an execution system of the data measurement and acquisition system, and comprises the steps of collecting flight positions during uncontrolled flight, speeds corresponding to the positions and time point data, regularly establishing antenna transmission links of an antenna L frequency band with the master aerostat nodes, and wirelessly transmitting the current positions, the speeds corresponding to the current positions and the time point data to the master aerostat nodes through the L frequency band.

20. The apparatus of claim 19, further comprising:

the power module is used for ascending to an initial height according to a preset configuration before sending a control instruction to any one or more slave aerostat nodes;

a second receiving module, configured to receive the first communication request sent by the slave aerostat node, where the first communication request is used to establish a first communication link with the slave aerostat node;

a first link establishing module, configured to establish the first communication link with the slave aerostat node according to the first communication request of the slave aerostat node, where the first communication link is used to transmit a control instruction to the slave aerostat node;

wherein the preset configuration comprises at least one of: the system comprises a flight path, an initial height and a wind measuring range, wherein the flight path comprises longitude and latitude and a time point sequence, and the wind measuring range is used for determining the measuring position of the slave aerostat node.

21. The apparatus of claim 20, wherein the sending module comprises:

an instruction generating unit, configured to generate the control instruction according to a preset configuration, where the control instruction is used to indicate a measurement position of the slave aerostat node and/or a measurement task corresponding to the measurement position, and the measurement task includes at least one of: wind speed measurement, map mapping, aerial photography and weather forecasting;

an instruction sending unit for sending a control instruction to the slave aerostat node over the first communication link.

22. The apparatus of claim 19, further comprising:

a third receiving module, configured to receive a second communication request sent by the slave aerostat node before receiving measurement data corresponding to the measurement task, where the measurement data is sent by the slave aerostat node at the measurement location, and the second communication request is used to establish a second communication link with the slave aerostat node;

a second link establishing module, configured to establish the second communication link with the slave aerostat node according to the second communication request of the slave aerostat node, where the second communication link is used to receive the measurement data sent by the slave aerostat node.

23. The apparatus of claim 22, wherein the first receiving module comprises:

and the receiving unit is used for receiving the measurement data of the slave aerostat node at the measurement position according to a preset period through the second communication link.

24. The apparatus of claim 19, wherein the measurement module comprises:

a storage unit for storing the measurement data; or,

the request sending unit is used for sending a third communication request to the ground measurement and control station, and the third communication request is used for establishing a third communication link with the ground measurement and control station;

and the data sending unit is used for sending the measurement data to the ground measurement and control station through the established third communication link.

25. A data measurement acquisition device, comprising:

the system comprises an instruction receiving module, a measurement task processing module and a processing module, wherein the instruction receiving module is used for receiving a control instruction sent by a main aerostat node, and the control instruction is used for indicating a measurement position and/or executing a measurement task corresponding to the measurement position;

a measurement module for performing the measurement task at the measurement location according to the measurement location in the control instruction;

the data sending module is used for returning the measurement data of the measurement task to the main aerostat node;

wherein the measurement task comprises at least one of: wind speed measurement, map mapping, aerial photography and weather forecasting;

after a master aerostat node and a slave aerostat node are lifted off, the master aerostat node is a control center of the whole data measurement and acquisition system, wherein the master aerostat node has three functions, and the first aspect is that the master aerostat node is communicated with the slave aerostat node to acquire the current position of the slave aerostat node and speed information corresponding to the current position; the second aspect is that when a control operation is performed, a control instruction is sent to the slave aerostat node; the third aspect is that response information of a target position set in an arrival control instruction after the slave aerostat node receives the control instruction and navigation speed data of the target position are obtained; the test cluster formed by a plurality of slave aerostat nodes is an execution system of the data measurement and acquisition system, and comprises the steps of collecting flight positions during uncontrolled flight, speeds corresponding to the positions and time point data, regularly establishing antenna transmission links of an antenna L frequency band with the master aerostat nodes, and wirelessly transmitting the current positions, the speeds corresponding to the current positions and the time point data to the master aerostat nodes through the L frequency band.

26. The apparatus of claim 25, further comprising:

a sending module, configured to send a first communication request to the master aerostat node before receiving the control instruction sent by the master aerostat node, where the first communication request is used to establish a first communication link with the master aerostat node.

27. The apparatus of claim 26, wherein the instruction receiving module comprises:

an instruction receiving unit, configured to receive, through the first communication link, a control instruction sent by the master aerostat node, where the control instruction is used to indicate a measurement location and/or a measurement task corresponding to the measurement location, and the measurement task includes at least one of: wind speed measurement, mapping, aerial photography and weather forecasting.

28. The apparatus of claim 25, further comprising:

and the request sending module is used for sending a second communication request to the main aerostat node before returning the measurement data of the measurement task to the main aerostat node, wherein the second communication request is used for establishing a second communication link with the main aerostat node.

29. The apparatus of claim 28, wherein the data sending module comprises:

and the data sending unit is used for returning the measurement data of the measurement position to the main aerostat node through the second communication link according to a preset period.