CN108490467A - Marine monitoring system and its laying based on LoRa technologies and monitoring method - Google Patents
Marine monitoring system and its laying based on LoRa technologies and monitoring method Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
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- H—ELECTRICITY
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Abstract
Description
技术领域technical field
本发明涉及电子设备定位技术领域，尤其是一种基于LoRa技术的海洋监测系统及其布设和监测方法。The invention relates to the technical field of positioning of electronic equipment, in particular to a marine monitoring system based on LoRa technology and its layout and monitoring method.
背景技术Background technique
海洋中常有溢油和漂流垃圾等污染问题，如何追踪海洋上污染物的问题是海洋环境保护的一个热点问题。研究海洋污染事故发生后这些污染物的运动规律，是进行污染事故应急处置，污染事故后果评估的重要参考依据。由于海洋水体流动的复杂性，通过数值模拟方法研究海洋中污染物的运动，一个区域内的污染物完全输运到其它区域需要非常长的时间，时间尺度从几天到几百年。如果完全用数值模型的方法模拟污染物漂流过程，需要耗费大量的计算资源。难以满足实际需求。There are often pollution problems such as oil spills and floating garbage in the ocean. How to track the pollutants on the ocean is a hot issue in marine environmental protection. Studying the movement rules of these pollutants after marine pollution accidents is an important reference for the emergency response to pollution accidents and the assessment of the consequences of pollution accidents. Due to the complexity of ocean water flow, it takes a very long time for the pollutants in one area to be completely transported to other areas through numerical simulation methods to study the movement of pollutants in the ocean, and the time scale ranges from a few days to hundreds of years. If a numerical model is used to simulate the drift process of pollutants, a large amount of computing resources will be consumed. Difficult to meet actual needs.
海洋中，海水流动是驱动污染物漂流的主要的动力。监测污染海域的海水流动情况，可以有效追踪污染物的运动规律和判断出污染物的运行轨迹，可以进一步验证海洋水流动力学模型。In the ocean, the flow of seawater is the main driving force driving the drift of pollutants. Monitoring the flow of seawater in polluted sea areas can effectively track the movement of pollutants and determine the trajectory of pollutants, which can further verify the dynamic model of ocean water flow.
发明内容Contents of the invention
本发明为了解决上述存在的问题，提供一种基于LoRa技术的海洋监测系统及其布设和监测方法，其特点在于利用LoRa传输设备的低功耗和通讯距离远的优势，通过监测近海污染海域的海水流动情况，有效追踪污染物的运动规律和判断出污染物的运行轨迹。In order to solve the above-mentioned problems, the present invention provides a marine monitoring system based on LoRa technology and its layout and monitoring method. The flow of seawater can effectively track the movement of pollutants and determine the trajectory of pollutants.
本发明采用如下技术方案：基于LoRa技术的海洋监测系统，包括信标装置、基站、数据处理和分析平台，其中：The present invention adopts the following technical solutions: a marine monitoring system based on LoRa technology, including a beacon device, a base station, a data processing and analysis platform, wherein:
所述信标装置，包括CPU处理器模块、定位服务模块和LoRa通讯模块，所述信标装置的数量为多个且布设于待监测海域，并实时输出位置信息至所述基站，用于监测海水流动的情况；The beacon device includes a CPU processor module, a positioning service module and a LoRa communication module. The number of the beacon devices is multiple and arranged in the sea area to be monitored, and outputs location information to the base station in real time for monitoring the movement of sea water;
所述基站，可以是岸基基站或海上平台基站，包括LoRa通讯模块和数据处理网关，单个基站可以连接不同频率段的LoRa通讯模块，目前可以实现多达4路信道同时采集。基站实时接收信标装置输出的位置信息，进行数据精度校正和解析处理，并通过格式转换，将位置信息发送至数据处理和分析平台；The base station can be a shore-based base station or an offshore platform base station, including a LoRa communication module and a data processing gateway. A single base station can be connected to LoRa communication modules of different frequency bands. Currently, up to 4 channels can be collected simultaneously. The base station receives the location information output by the beacon device in real time, performs data accuracy correction and analysis processing, and sends the location information to the data processing and analysis platform through format conversion;
所述数据处理和分析平台，对接收到的位置信息进行存储、并通过前后两次的位置信息分析出相对位移和每个信标装置的运动轨迹，并将每个信标装置的位置在电子地图上定位显示。The data processing and analysis platform stores the received position information, and analyzes the relative displacement and the movement track of each beacon device through the position information twice before and after, and calculates the position of each beacon device in the electronic location on the map.
优选的，所述信标装置还包括密封的塑料或硅胶外壳，所述外壳内部固定有CPU处理器模块、定位服务模块、LoRa通讯模块、处理器模块、存储单元、天线和电源；所述定位服务模块采用BDS兼容GPS定位模块获取所述信标装置的位置信息；所述电源为锂电池或太阳能板。Preferably, the beacon device also includes a sealed plastic or silica gel shell, and the inside of the shell is fixed with a CPU processor module, a positioning service module, a LoRa communication module, a processor module, a storage unit, an antenna and a power supply; The service module uses a BDS compatible GPS positioning module to obtain the location information of the beacon device; the power supply is a lithium battery or a solar panel.
进一步的，所述定位服务模块包括北斗定位模块和/或GPS定位模块；所述北斗定位模块包括北斗天线、北斗定位芯片和读取北斗定位信号的单片机；所述GPS定位模块包括GPS天线、GPS定位芯片和读取GPS定位信号的单片机。Further, the positioning service module includes a Beidou positioning module and/or a GPS positioning module; the Beidou positioning module includes a Beidou antenna, a Beidou positioning chip and a microcontroller for reading Beidou positioning signals; the GPS positioning module includes a GPS antenna, a GPS A positioning chip and a microcontroller for reading GPS positioning signals.
优选的，所述信标装置位于海平面上。Preferably, said beacon device is located at sea level.
优选的，所述一个基站用于监测半径5km范围内的信标装置。Preferably, the one base station is used to monitor beacon devices within a radius of 5km.
本发明的基于LoRa技术的海洋监测系统的布设和监测方法，通过以下步骤来实现：The layout and monitoring method of the marine monitoring system based on LoRa technology of the present invention are realized through the following steps:
a)、布设信标装置，在待监测的海域布设多个信标装置；a), deploy beacon devices, and deploy multiple beacon devices in the sea area to be monitored;
b)、布设基站，在待监测海域的沿岸或者海上平台固定基站，以便基站对位置信息进行接收、处理和转发；b) Arrange base stations, and fix base stations on coasts or offshore platforms in the sea area to be monitored, so that the base stations can receive, process and forward location information;
c)、位置信息的采集和上传，信标装置实时通过定位服务模块采集位置信息，并通过LoRa通讯模块进行上传；c), the collection and upload of location information, the beacon device collects location information through the positioning service module in real time, and uploads it through the LoRa communication module;
d)、位置信息的处理和转发，基站接收信标装置发送的位置信息，再将位置信息进行数据精度校正和解析处理，并通过格式转换后通过无线网络上传至数据处理和分析平台；d) Processing and forwarding of location information, the base station receives the location information sent by the beacon device, then performs data accuracy correction and analysis processing on the location information, and uploads it to the data processing and analysis platform through the wireless network after format conversion;
e)、位置信息的存储和分析，数据处理和分析平台对接收到的位置信息进行存储、并通过前后两次的位置信息分析出相对位移和信标装置的运动轨迹，并将信标装置的位置在电子地图上定位显示。 e) Storage and analysis of location information, the data processing and analysis platform stores the received location information, and analyzes the relative displacement and the movement track of the beacon device through the location information twice before and after, and calculates the location of the beacon device Position display on the electronic map.
优选的，在步骤c）中，每个信标装置信道上传位置信息的时间t<200ms，位置信息的数据长度为40字节，每分钟可以上传位置信息总数为300个；同一基站可布设4个不同频率通道，同一频率通道范围内包含的信标装置的个数为n（n<1000），每个信标装置信道的采集设置周期T>n/300分钟，所有信标装置通过北斗或GPS统一校时，每个小时的60分钟分成若干个周期T，在每个周期T内按照间隔200ms分配对应的信标装置进行数据上传，每个信标装置在不同的固定的时间点上传数据，有效避免上传数据的碰撞问题。综上所述同一基站内采集信标装置的个数多达4n（n<1000）。Preferably, in step c), the time t for each beacon device channel to upload location information is <200ms, the data length of location information is 40 bytes, and the total number of location information that can be uploaded per minute is 300; the same base station can deploy 4 There are different frequency channels, the number of beacon devices contained in the same frequency channel range is n (n<1000), the acquisition setting period of each beacon device channel is T>n/300 minutes, and all beacon devices pass Beidou or GPS unified time calibration, 60 minutes of each hour is divided into several periods T, in each period T, the corresponding beacon device is assigned to upload data at intervals of 200ms, and each beacon device uploads data at different fixed time points , to effectively avoid the collision problem of uploaded data. To sum up, the number of collecting beacon devices in the same base station is up to 4n (n<1000).
优选的，在步骤c)中，信标装置根据设定的时间间隔T定时采集位置信息和上传数据，在不采集和发送数据的间隙，处于休眠状态，以降低信标装置的能量消耗，保证信标装置的长期、稳定运行。Preferably, in step c), the beacon device regularly collects location information and uploads data according to the set time interval T, and is in a dormant state during the gap between not collecting and sending data, so as to reduce the energy consumption of the beacon device and ensure Long-term and stable operation of beacon devices.
采用上述技术方案，本发明的有益之处在于，通过在海平面上布设多个信标装置，信标装置实时采集本身的位置信息通过LoRa通讯模块上传至基站，由基站通过信标装置的位置信息计算出信标装置运动的速度和方向，由数据处理和分析平台分析出信标装置的运动轨迹，判断出海水的流动情况，进而得出污染物的运动规律和污染物的运行轨迹，有效监测海洋环境污染的实时动态，结论客观准确率高；具有低功耗和通讯距离长，监测范围广的优势；监测手段几乎无需人工干涉最大限度的减少了人员维护频率。Adopting the above-mentioned technical solution, the present invention is beneficial in that by arranging a plurality of beacon devices on sea level, the beacon device collects its own location information in real time and uploads it to the base station through the LoRa communication module, and the base station passes the location information of the beacon device The information calculates the speed and direction of the beacon device movement, and the data processing and analysis platform analyzes the movement trajectory of the beacon device, judges the flow of seawater, and then obtains the movement law of pollutants and the trajectory of pollutants, effectively Monitor the real-time dynamics of marine environmental pollution, and the conclusions have high objective accuracy; it has the advantages of low power consumption, long communication distance, and wide monitoring range; the monitoring method hardly requires manual intervention and minimizes the frequency of personnel maintenance.
附图说明Description of drawings
图1是本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2是本发明的信标装置的运行流程图；Fig. 2 is the operational flowchart of the beacon device of the present invention;
图3是本发明的数据防碰撞流程图；Fig. 3 is the data anti-collision flowchart of the present invention;
附图标记：1信标装置；2、基站；3、数据处理和分析平台；11、定位服务模块；12、LoRa通讯模块；13、CPU处理器模块；21、LoRa通讯模块；22、数据处理网关。Reference signs: 1 beacon device; 2, base station; 3, data processing and analysis platform; 11, positioning service module; 12, LoRa communication module; 13, CPU processor module; 21, LoRa communication module; 22, data processing gateway.
具体实施方式Detailed ways
下面结合附图对本发明的具体实施方式作进一步详细的说明。The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.
本发明具体实施例Specific embodiments of the invention
如图1所示，一种基于LoRa技术的海洋监测系统，包括信标装置1、基站2和数据处理和分析平台3，其中：As shown in Figure 1, a marine monitoring system based on LoRa technology includes a beacon device 1, a base station 2, and a data processing and analysis platform 3, wherein:
所述信标装置1，包括CPU处理器模块13、定位服务模块11和LoRa通讯模块12，所述信标装置1的数量可多达上千个且布设于待监测海域，并实时输出位置信息至所述基站2，用于监测海水流动的情况；The beacon device 1 includes a CPU processor module 13, a positioning service module 11 and a LoRa communication module 12, and the number of the beacon device 1 can be as many as thousands and is arranged in a sea area to be monitored, and outputs location information in real time to the base station 2 for monitoring the flow of seawater;
所述基站2，包括LoRa通讯模块21和数据处理网关22，单个基站2可以设置不同频率段的LoRa通讯模块21，实现多达4路信道同时采集，基站2实时接收信标装置1输出的位置信息，进行数据精度校正和解析处理，并通过格式转换，将位置信息发送至数据处理和分析平台3；The base station 2 includes a LoRa communication module 21 and a data processing gateway 22. A single base station 2 can be provided with a LoRa communication module 21 of different frequency bands to realize simultaneous acquisition of up to 4 channels, and the base station 2 receives the position output by the beacon device 1 in real time. information, perform data accuracy correction and analysis processing, and send the location information to the data processing and analysis platform 3 through format conversion;
所述数据处理和分析平台3，对接收到位置信息进行存储、并通过前后两次的位置信息分析出相对位移和每个信标装置1的运动轨迹，并将每个信标装置1的位置在电子地图上定位显示。The data processing and analysis platform 3 stores the received position information, and analyzes the relative displacement and the movement track of each beacon device 1 through the position information twice before and after, and calculates the position of each beacon device 1 Position display on the electronic map.
所述信标装置1还包括密封的塑料或硅胶外壳，所述外壳内部固定有定位服务模块11、LoRa通讯模块12、CPU处理器模块13、存储单元、天线和电源；所述定位服务模块11采用北斗定位模块和/或GPS定位模块获取所述信标装置的位置信息；所述电源为锂电池或太阳能板。The beacon device 1 also includes a sealed plastic or silica gel shell, and the inside of the shell is fixed with a positioning service module 11, a LoRa communication module 12, a CPU processor module 13, a storage unit, an antenna and a power supply; the positioning service module 11 A Beidou positioning module and/or a GPS positioning module is used to obtain the position information of the beacon device; the power supply is a lithium battery or a solar panel.
所述北斗定位模块包括北斗天线、北斗定位芯片和读取北斗定位信号的单片机；所述GPS定位模块包括GPS天线、GPS定位芯片和读取GPS定位信号的单片机。The Beidou positioning module includes a Beidou antenna, a Beidou positioning chip, and a single-chip microcomputer for reading Beidou positioning signals; the GPS positioning module includes a GPS antenna, a GPS positioning chip, and a single-chip microcomputer for reading GPS positioning signals.
所述信标装置1位于海平面上。The beacon device 1 is located at sea level.
所述一个基站2用于监测半径5km范围内的信标装置1。The one base station 2 is used to monitor the beacon devices 1 within a radius of 5 km.
本发明的一种基于LoRa技术的海洋监测系统的布设和监测方法，通过以下步骤来实现：A kind of layout and monitoring method of the marine monitoring system based on LoRa technology of the present invention, realize through the following steps:
a)、布设信标装置1，在待监测的海域布设多个信标装置1；a), laying out the beacon device 1, laying out a plurality of beacon devices 1 in the sea area to be monitored;
b)、布设基站2，在待监测海域的沿岸固定基站2，以便基站2对位置信息进行接收、处理和转发；b), base station 2 is deployed, and base station 2 is fixed along the coast of the sea area to be monitored, so that base station 2 receives, processes and forwards the position information;
c)、位置信息的采集和上传，信标装置1实时通过定位服务模块11采集位置信息，并通过LoRa通讯模块12进行上传；如图2所示；c), collection and uploading of location information, the beacon device 1 collects location information through the positioning service module 11 in real time, and uploads through the LoRa communication module 12; as shown in Figure 2;
d)、位置信息的处理和转发，基站2接收信标装置1发送的位置信息，再将位置信息进行数据精度校正和解析处理，并通过格式转换后通过无线网络上传至数据处理和分析平台3；d) Processing and forwarding of location information, the base station 2 receives the location information sent by the beacon device 1, then performs data accuracy correction and analysis processing on the location information, and uploads it to the data processing and analysis platform 3 through the wireless network after format conversion ;
e)、位置信息的存储和分析，数据处理和分析平台3根据所接收的信标运动信息和位置信息分析信标装置1的运动轨迹，并将信标装置1的位置在电子地图上定位显示。 e), storage and analysis of location information, the data processing and analysis platform 3 analyzes the movement track of the beacon device 1 according to the received beacon motion information and location information, and displays the position of the beacon device 1 on the electronic map .
在步骤c）中，在SpreadingFactor=9，Bw_Frequency=8的参数下，互发数据为40字节，发送到接收中间耗时0.21秒，每个信标装置上传位置信息的时间t<200ms，位置信息的数据长度为40字节，每分钟可以上传位置信息总数为300个；同一个基站范围内包含的信标装置的个数为n（n<1000），每个信标装置的采集设置周期T>n/300分钟，所有信标装置通过北斗或GPS统一校时，每个小时的60分钟分成若干个周期T，在每个周期T内按照间隔200ms分配对应的信标装置进行数据上传，每个信标装置在不同的固定的时间点上传数据，有效避免上传数据的碰撞问题。如图3所示，同时还采取防碰撞应答存储机制，若某次的位置信息上传失败则将该位置信息数据作为历史数据保存，下次信息上传时再进行历史数据汇报。以信标装置个数n=1000为例,则T=3.333取值T=4，在每个小时内可汇报周期m<=15次,各周期时间起点为第4m，设信标装置序号X=1，那么装置x每小时汇报的时间点为第(4m*60)+200x 秒（1=<m<=14）,第15个周期作为历史数据汇报周期。In step c), under the parameters of SpreadingFactor=9 and Bw_Frequency=8, the mutual transmission data is 40 bytes, and it takes 0.21 seconds between sending and receiving, and the time t for each beacon device to upload location information is <200ms. The data length of the information is 40 bytes, and the total number of position information that can be uploaded per minute is 300; the number of beacon devices included in the same base station is n (n<1000), and the collection and setting cycle of each beacon device T>n/300 minutes, all beacon devices are unified by Beidou or GPS, and 60 minutes of each hour is divided into several periods T, and in each period T, corresponding beacon devices are assigned to upload data at intervals of 200ms. Each beacon device uploads data at different fixed time points, effectively avoiding the collision problem of uploaded data. As shown in Figure 3, an anti-collision response storage mechanism is also adopted at the same time. If a certain position information upload fails, the position information data will be saved as historical data, and the historical data will be reported the next time the information is uploaded. Taking the number of beacon devices n=1000 as an example, then T=3.333 takes the value T=4, and the reporting cycle m<=15 times can be reported within each hour, and the starting point of each cycle time is the 4th m, and the number of the beacon device is set to X =1, then the hourly reporting time point of device x is the (4m*60)+200x second (1=<m<=14), and the 15th cycle is used as the historical data reporting cycle.
在步骤c)中，信标装置1根据设定的时间间隔T定时采集位置信息和上传数据，在不采集和发送数据的间隙，处于休眠状态，以降低信标装置的能量消耗，保证信标装置的长期、稳定运行。In step c), the beacon device 1 regularly collects location information and uploads data according to the set time interval T, and stays in a dormant state during the gap between not collecting and sending data, so as to reduce the energy consumption of the beacon device and ensure that the beacon Long-term and stable operation of the device.
尽管结合优选实施方案具体展示和介绍了本发明，但所属领域的技术人员应该明白，在不脱离所附权利要求书所限定的本发明的精神和范围内，在形式上和细节上对本发明做出各种变化，均为本发明的保护范围。Although the invention has been particularly shown and described in connection with preferred embodiments, it will be understood to those skilled in the art that changes in form and details of the invention have been made without departing from the spirit and scope of the invention as defined by the appended claims. All changes are within the protection scope of the present invention.
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