Receiver based on Beidou No.3

Abstract

The invention discloses a receiver based on Beidou No.3. Comprising a control module, the control module comprises a plurality of single-chip microcomputer chips, and the control module is electrically connected with a power supply module; the control module is electrically connected with a processing module; the processing module is electrically connected with a detection module, the processing module is electrically connected with an interface module, the processing module is electrically connected with a communication module, and the communication module is electrically connected with a Beidou module; the universal GNSS monitoring special receiver is capable of integrating low cost, low power consumption, high integration and edge solution of three-dimensional displacement, inclination angle and acceleration; a plurality of single-chip microcomputer chips are used for calculation processing, a processing module is used for analyzing and processing data information, and the data information is received, converted, filtered and amplified, so that the accuracy of the data information is improved, and the accuracy of the data information is improved through noise reduction processing of an EEMD (Ensemble Empirical Mode Decomposition) algorithm.

Description

Technical Field

[0001] The present invention belongs to the technical field of Beidou data transmission terminals, and in particular relates to a Beidou-3 based receiver. Background Art

[0002] A GNSS receiver is a device used to receive, track, process and measure global navigation satellite system signals. It can receive signals from different satellites, process and analyze these signals, and calculate the receiver's position, speed, time and other information. GNSS receivers are widely used in navigation, positioning, measurement, aviation, navigation, remote sensing and other fields.

[0003] The main functions of a GNSS receiver include receiving satellite signals, extracting navigation messages and pseudo-range measurements, processing navigation messages, and calculating positioning results. Its core components include antennas, receiving units, and processing units. The antenna is responsible for receiving satellite signals, the receiving unit is responsible for extracting and processing signals, and the processing unit is responsible for data processing and calculation. The working principle of a GNSS receiver is based on the method of measuring pseudo-range and carrier phase. By receiving and processing satellite signals, the distance and angle information between the receiver and the satellite are calculated, and then the position and speed of the receiver are determined. Its positioning accuracy and reliability depend on many factors, such as the quality of satellite signals, the performance of the receiver, and the accuracy of the processing algorithm; however, various Beidou data transmission terminals on the market still have various problems.

[0004] For example, a BeiDou-3 based receiver disclosed in the authorization announcement number CN220325615U realizes the start of a high-speed fan, and the air passes through the top cap and the dustproof mesh ring and enters the air inlet pipe. The airflow flows downward through the air inlet pipe, passes through the air guide cover and enters the inside of the heat sink fins. The airflow collides with the heat conduction plate and diffuses outward. Under the guidance of the heat sink fins, the airflow is discharged outward evenly along a ring shape, thereby dissipating the heat outside the heat sink fins. In this way, the heat dissipation and cooling effect of the data transmission terminal is improved, and the problem of low heat dissipation efficiency of the existing data transmission terminals in the background technology is solved. However, the problems existing in the existing data transmission terminals such as the inability to calculate and process data information, the inability to filter data information, and the inability to achieve stable power supply operation of the system are not solved. For this reason, we propose a BeiDou-3 based receiver. Summary of the invention

[0005] The purpose of the present invention is to provide a BeiDou-3 based receiver to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: a BeiDou-3 based receiver, comprising a control module, wherein the control module comprises a plurality of single-chip microcomputer chips, and the system is controlled and adjusted by the single-chip microcomputer chips to improve the stability of the system; the control module is electrically connected to a power supply module, and the power supply module is used to supply power to the system and adjust the power supply voltage to maintain the stability of the system;

[0007] The control module is electrically connected to a processing module, and the processing module is used to process the transmitted data information. The processing module includes a receiving unit for acquiring the data information, a gain unit for amplifying the data information, a filtering unit for filtering the data information, and a conversion unit for performing analog-to-digital conversion on the data information, so as to realize receiving and processing the data information, and filtering the noise of the data information to improve the accuracy of the data information, and filtering the data information through the filtering unit to improve the accuracy of the data information, and the conversion unit is used to perform analog-to-digital conversion on the data information, and convert the analog signal into a digital signal, so as to facilitate subsequent calculation and processing of the data information;

[0008] The filtering unit is a noise reduction process based on the EEMD algorithm.

[0009] The EEMD algorithm introduces noise auxiliary analysis into EMD decomposition, adds a group of random Gaussian white noise to the original signal x(t), and the obtained noisy sequence signal to be processed is:

[0010] x i (t) = x(t) + ω i (t),i=1,2,...,N,

[0011] In the formula, x i (t) is the original signal, x(t) is the signal to be processed by adding Gaussian random white noise for the ith time; w i (t) is the random Gaussian white noise added for the i-th time. For each added noise signal x i (t) Perform EMD decomposition to obtain the m-order modal component and residual component:

[0012]

[0013] In the formula, c ij (t) is x i (t) j-th order modal component obtained by EMD decomposition; r i (t) is the residual component or trend term of the signal after removing m modal components;

[0014] For N x iThe j-th modal component c of the original signal x(t) can be obtained by taking the average value of the j-th modal component obtained by EMD decomposition. j (t); Similarly, the residual component r(t) of the original signal x(t) can be obtained by taking the average value of the N signal residual components, that is:

[0015]

[0016] The original signal is decomposed by EEMD to obtain the modal components and residual components of each order. The modal components of each order obtained by decomposition are judged by frequency analysis and energy analysis. The noise modal components are removed and the remaining signal modal components are reconstructed to obtain the denoised signal. Assume that the highest frequency of the signal is w0, and the frequency w of the 1st to j0-1th order IMF is j (j=1,...j0-1) all satisfy w j >w0, the 1st to j0-1th order modal components IMF are regarded as noise and removed;

[0017] The energy analysis denoising method is to further denoise the j0th to mth order IMFs based on the frequency analysis method. The specific method is as follows;

[0018] The energy density E0(t) of the j-th order IMF is calculated as:

[0019]

[0020] In the formula, A j (t) represents the amplitude of the j-th order IMF at time t;

[0021] From the energy density E j (t), and find the energy p of the j-th order IMF j The average value of IMF energy (j=j0,j0+1,...m-1) is:

[0022]

[0023] The energy p of the j-th (j=j0,j0+1,...m-1)-th order IMF j The energy ratio R pj for:

[0024]

[0025] If the energy ratio R pj ≥1, it indicates that the j-th order IMF component is a signal; if the energy ratio R pj <1, it indicates that the j-th order component is noise;

[0026] The processing module is electrically connected to a detection module, and the detection module is used to detect three-dimensional displacement, inclination and acceleration. The acceleration is detected by using an acceleration sensor SCA3300-D01, the three-dimensional displacement detection chip is U33, and the inclination detection chip is U138. The processing module is electrically connected to an interface module, and the interface module is used to connect to an external device to receive a detection signal from the external device. The processing module is electrically connected to a communication module, and the communication module is electrically connected to a Beidou module, and the Beidou module is used to achieve positioning and determine the data collection location.

[0027] Furthermore, the control module is electrically connected to a power supply module, which is used to power the system. The power supply module includes an adapter and a battery. The adapter is used to power the system and the battery and adjust the voltage, and the battery is used to power the system in the field.

[0028] Furthermore, the adapter includes several power supply circuits, including a chip power supply circuit, a main power supply circuit, a GNSS power supply circuit and a UHF power supply circuit. The chip power supply circuit is used to power the chip, the main power supply circuit is used to power the device, the GNSS power supply circuit is used to power Beidou satellite positioning, and the UHF power supply circuit is used to power ultra-high frequency communication.

[0029] Furthermore, the power supply circuit includes a switching regulator MPQ4433GL for on-off control and a 2A synchronous step-down DC / DC for step-down processing. The switching regulator MPQ4433GL is electrically connected to the adapter, the battery and the 2A synchronous step-down DC / DC respectively.

[0030] Furthermore, the control module includes several single-chip microcomputer chips MCIMX6Y2CVM08AB, which are used to control and adjust the system, and can control the system and calculate and process data information. The single-chip microcomputer chip MCIMX6Y2CVM08AB is electrically connected to a control button, which is a plurality of capacitors connected in parallel.

[0031] Furthermore, the processing module is electrically connected to an interface module, which is used to connect an external device. The interface module includes a LoRa antenna interface, 232+485+5V / 12V+GND, a USB interface and a LEMO interface. The LoRa antenna interface is used to connect an antenna, improve the communication capability of the device, and facilitate the transmission of data information. The 232+485+5V / 12V+GND is used for RS485 communication and to realize Beidou satellite communication connection. The USB interface is used to upload data information. The LEMO interface is used to connect an external device to facilitate the connection and transmission of data information.

[0032] Furthermore, the communication module includes WIFI and NB-IOT communication, the LoRa antenna interface is electrically connected to the NB-IOT communication, so as to improve the capability of the NB-IOT communication and facilitate the transmission of data information. The NB-IOT communication is used to realize the Internet of Things connection, as well as to realize the electrical connection with the Beidou module to realize the transmission of data information, and the WIFI is used to realize the short-range data information transmission.

[0033] Further, the NB-IOT communication includes a SIM card connector KP13, the SIM card connector KP13 is electrically connected to a surge protection diode ESD5Z3.3T1G, the SIM card connector KP13 is electrically connected to a SIM card connection slot U15B, and the SIM card connection slot U15B is electrically connected to the SIM card connector KP13;

[0034] The control module is electrically connected to an auxiliary module, the auxiliary module includes a memory for data storage, the auxiliary module includes a half-duplex transceiver SN65HVD75DR and a connector 5027903091, and the half-duplex transceiver SN65HVD75DR and the connector 5027903091 are used for connecting the WIFI and the NB-IOT communications.

[0035] Furthermore, the NB-IOT communication also includes an anti-electromagnetic interference circuit, the anti-electromagnetic interference circuit includes a protection diode UESD6V8L4B, and the anti-electromagnetic interference circuit is electrically connected to the SIM card connector KP13 to eliminate electromagnetic interference in communication.

[0036] A receiver based on BeiDou-3 also includes a bottom shell assembly, a top cover is provided on the upper part of the bottom shell assembly, a waterproof ring is provided at the connection between the bottom shell assembly and the top cover, an antenna, a connector, an MB assembly, a board and a breathable bracket assembly are provided between the bottom shell assembly and the top cover, and a SIM card cover assembly, a seven-core waterproof seat and a two-core waterproof seat are provided on one side of the bottom shell assembly.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention is a low-cost, low-power, highly integrated, edge-solving universal GNSS monitoring receiver that can integrate three-dimensional displacement, inclination, and acceleration. The power consumption is less than 1.5 watts, and the monitoring mode can be automatically adjusted according to the deformation trend to meet the requirements of monitoring frequency and accuracy at different deformation stages of the deformable body. It can be applied to geological disaster monitoring, mine monitoring, reservoir high slope monitoring, highway slope monitoring, dangerous building monitoring and other fields;

[0039] The present invention mainly performs calculation processing through a plurality of single-chip microcomputer chips, and analyzes and processes data information through a processing module, thereby realizing receiving, converting, filtering and amplifying processing of data information, improving the accuracy of data information, and facilitating the calculation processing of data information. Furthermore, through the noise reduction processing of the EEMD algorithm, the calculation processing of data information is realized, the interference noise in the data information is reduced, and the accuracy of data information is improved. Moreover, the EEMD algorithm introduces noise auxiliary analysis into EMD decomposition, adds a group of random Gaussian white noise to the original signal, and obtains a noisy sequence signal to be processed, realizes decomposition to obtain each order of modal components and residual components, uses frequency analysis method and energy analysis method to judge the modal components of noise and signal for each order of modal components obtained by decomposition, removes the noise modal components, and reconstructs the remaining signal modal components to obtain the denoised signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0041] Figure 2 This is one of the schematic diagrams of the single-chip microcomputer chip of the present invention;

[0042] Figure 3 This is the second schematic diagram of the single chip microcomputer chip of the present invention;

[0043] Figure 4 This is the third schematic diagram of the single chip microcomputer chip of the present invention;

[0044] Figure 5 This is the fourth schematic diagram of the single chip microcomputer chip of the present invention;

[0045] Figure 6 This is the fifth schematic diagram of the single chip microcomputer chip of the present invention;

[0046] Figure 7 This is a schematic diagram of the SIM card slot circuit of the present invention;

[0047] Figure 8 This is a schematic diagram of the SIM card connector KP13 of the present invention;

[0048] Fig. 9 It is a schematic diagram of the anti-electromagnetic interference circuit of the present invention;

[0049] Fig.10 The schematic diagram of the three-dimensional displacement detection chip of the present invention is U33;

[0050] Fig.11 The schematic diagram of the tilt angle detection chip of the present invention is U138;

[0051] Fig.12 It is a schematic diagram of the acceleration sensor SCA3300-D01 of the present invention;

[0052] Fig.13 It is a schematic diagram of the half-duplex transceiver SN65HVD75DR of the present invention;

[0053] Fig.14 It is a schematic diagram of the connector 5027903091 of the present invention;

[0054] Fig.15 It is a schematic diagram of the structural explosion of the present invention.

[0055] In the figure: 1. Top cover; 2. Antenna; 3. Connector; 4. Waterproof ring; 5. MB assembly; 6. Board; 7. Breathable bracket assembly; 8. Bottom shell assembly; 9. SIM card cover assembly; 10. Seven-core waterproof seat; 11. Two-core waterproof seat. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] See also Figure 1-Figure 14 The present invention provides a technical solution: a BeiDou-3 based receiver, comprising a control module, wherein the control module comprises a plurality of single-chip microcomputer chips, and the system is controlled and adjusted by the single-chip microcomputer chips to improve the stability of the system; the control module is electrically connected to a power supply module, and the power supply module is used to supply power to the system and adjust the power supply voltage to maintain the stability of the system;

[0058] The control module is electrically connected to a processing module, and the processing module is used to process the transmitted data information. The processing module includes a receiving unit for acquiring the data information, a gain unit for amplifying the data information, a filtering unit for filtering the data information, and a conversion unit for performing analog-to-digital conversion on the data information, so as to realize receiving and processing the data information, and filtering the noise of the data information to improve the accuracy of the data information, and filtering the data information through the filtering unit to improve the accuracy of the data information, and the conversion unit is used to perform analog-to-digital conversion on the data information, and convert the analog signal into a digital signal, so as to facilitate subsequent calculation and processing of the data information;

[0059] The filtering unit is a noise reduction process based on the EEMD algorithm.

[0060] The EEMD algorithm introduces noise auxiliary analysis into EMD decomposition, adds a group of random Gaussian white noise to the original signal x(t), and the obtained noisy sequence signal to be processed is:

[0061] x i (t) = x(t) + ω i (t),i=1,2,...,N,

[0062] In the formula, x i (t) is the original signal, x(t) is the signal to be processed by adding Gaussian random white noise for the ith time; w i (t) is the random Gaussian white noise added for the i-th time. For each added noise signal x i (t) Perform EMD decomposition to obtain the m-order modal component and residual component:

[0063]

[0064] In the formula, c ij (t) is x i (t) j-th order modal component obtained by EMD decomposition; r i (t) is the residual component or trend term of the signal after removing m modal components;

[0065] For N x i The j-th modal component c of the original signal x(t) can be obtained by taking the average value of the j-th modal component obtained by EMD decomposition. j (t); Similarly, the residual component r(t) of the original signal x(t) can be obtained by taking the average value of the N signal residual components, that is:

[0066]

[0067] The original signal is decomposed by EEMD to obtain the modal components and residual components of each order. The modal components of each order obtained by decomposition are judged by frequency analysis and energy analysis. The noise modal components are removed and the remaining signal modal components are reconstructed to obtain the denoised signal. Assume that the highest frequency of the signal is w0, and the frequency w of the 1st to j0-1th order IMF is j (j=1,...j0-1) all satisfy w j >w0, the 1st to j0-1th order modal components IMF are regarded as noise and removed;

[0068] The energy analysis denoising method is to further denoise the j0th to mth order IMFs based on the frequency analysis method. The specific method is as follows;

[0069] The energy density E0(t) of the j-th order IMF is calculated as:

[0070]

[0071] In the formula, A j (t) represents the amplitude of the j-th order IMF at time t;

[0072] From the energy density E j (t), and find the energy p of the j-th order IMF j The average value of IMF energy (j=j0,j0+1,...m-1) is:

[0073]

[0074] The energy p of the j-th (j=j0,j0+1,...m-1)-th order IMF j The energy ratio R pj for:

[0075]

[0076] If the energy ratio R pj ≥1, it indicates that the j-th order IMF component is a signal; if the energy ratio R pj <1, it indicates that the j-th order component is noise;

[0077] The processing module is electrically connected to a detection module, and the detection module is used to detect three-dimensional displacement, inclination and acceleration. The acceleration is detected by using an acceleration sensor SCA3300-D01, the three-dimensional displacement detection chip is U33, and the inclination detection chip is U138. The processing module is electrically connected to an interface module, and the interface module is used to connect to an external device to receive a detection signal from the external device. The processing module is electrically connected to a communication module, and the communication module is electrically connected to a Beidou module, and the Beidou module is used to achieve positioning and determine the data collection location.

[0078] In order to achieve stable power supply operation for the system and to realize charging power supply and field power supply operation, in this embodiment, preferably, the control module is electrically connected to a power supply module, and the power supply module is used to power the system. The power supply module includes an adapter and a battery. The adapter is used to power the system and the battery and adjust the voltage, and the battery is used to power the system in the field.

[0079] In order to realize separate power supply for the system and improve the accuracy of the power supply process, in the present embodiment, preferably, the adapter includes several power supply circuits, the power supply circuits include a chip power supply circuit, a main power supply circuit, a GNSS power supply circuit and a UHF power supply circuit. The chip power supply circuit realizes power supply for the chip, the main power supply circuit is used to power the equipment, the GNSS power supply circuit is used to power Beidou satellite positioning, and the UHF power supply circuit is used to power ultra-high frequency communication.

[0080] In order to achieve on-off control of the power supply process and reduce the voltage to maintain the safety of the system, in this embodiment, preferably, the power supply circuit includes a switching regulator MPQ4433GL for on-off control and a 2A synchronous step-down DC / DC for voltage reduction. The switching regulator MPQ4433GL is electrically connected to the adapter, the battery and the 2A synchronous step-down DC / DC respectively.

[0081] In order to realize multi-chip control of the system and improve the stability of the system installation, in this embodiment, preferably, the control module includes several single-chip microcomputer chips MCIMX6Y2CVM08AB, and the single-chip microcomputer chip MCIMX6Y2CVM08AB is used to control and adjust the system, and can realize system control and calculation and processing of data information. The single-chip microcomputer chip MCIMX6Y2CVM08AB is electrically connected to a control button, and the control button is a plurality of capacitors connected in parallel.

[0082] In order to enable the system to connect external devices, facilitate the transmission of data information, and improve the stability of the system, in this embodiment, preferably, the processing module is electrically connected to an interface module, and the interface module is used to connect external devices. The interface module includes a LoRa antenna interface, 232+485+5V / 12V+GND, a USB interface and a LEMO interface. The LoRa antenna interface is used to connect the antenna, improve the communication capability of the device, and facilitate the transmission of data information. The 232+485+5V / 12V+GND is used for RS485 communication and to realize Beidou satellite communication connection. The USB interface is used to upload data information. The LEMO interface is used to connect external devices to facilitate connection and transmission of data information.

[0083] In order to realize the communication connection of the system and facilitate the communication and transmission of data information, in this embodiment, preferably, the communication module includes WIFI and NB-IOT communication, and the LoRa antenna interface is electrically connected to the NB-IOT communication to improve the capacity of the NB-IOT communication and facilitate the transmission of data information. The NB-IOT communication is used to realize the Internet of Things connection, as well as to realize the electrical connection with the Beidou module to realize the transmission of data information, and the WIFI is used to realize short-range data information transmission.

[0084] In order to realize the installation and connection of the SIM card, facilitate communication transmission, and realize the sending and receiving of data information and connection, in this embodiment, preferably, the NB-IOT communication includes a SIM card connector KP13, the SIM card connector KP13 is electrically connected to an anti-surge diode ESD5Z3.3T1G, the SIM card connector KP13 is electrically connected to a SIM card connection slot U15B, and the SIM card connection slot U15B is electrically connected to the SIM card connector KP13;

[0085] The control module is electrically connected to an auxiliary module, the auxiliary module includes a memory for data storage, the auxiliary module includes a half-duplex transceiver SN65HVD75DR and a connector 5027903091, and the half-duplex transceiver SN65HVD75DR and the connector 5027903091 are used for connecting the WIFI and the NB-IOT communications.

[0086] In order to improve the communication security of the system, in this embodiment, preferably, the NB-IOT communication also includes an anti-electromagnetic interference circuit, the anti-electromagnetic interference circuit includes a protection diode UESD6V8L4B, and the anti-electromagnetic interference circuit is electrically connected to the SIM card connector KP13 to eliminate electromagnetic interference in communication.

[0087] refer to Fig.15 A receiver based on Beidou-3 also includes a bottom shell assembly 8, a top cover 1 is provided on the upper part of the bottom shell assembly 8, a waterproof ring 4 is provided at the connection between the bottom shell assembly 8 and the top cover 1, an antenna 2, a connector 3, an MB assembly 5, a board 6 and a breathable bracket assembly 7 are provided between the bottom shell assembly 8 and the top cover 1, and a SIM card cover assembly 9, a seven-core waterproof seat 10 and a two-core waterproof seat 11 are provided on one side of the bottom shell assembly 8.

[0088] The working principle and use process of the present invention are as follows: when in use, the system will be powered by the power supply module, and the power supply module adopts separate power supply, which can realize the safe operation of the system, so that the single-chip microcomputer chip in the control module can complete separate control, and the detection module detects three-dimensional displacement, inclination and acceleration, and is connected to the external device through the interface module to obtain the signal detected by the external device, and then the processing module performs calculation processing to realize amplification processing, filtering processing, analog-to-digital conversion processing and reception of data information, thereby improving the accuracy of data information, facilitating the calculation processing of data information, and through the noise reduction processing of the EEMD algorithm, the calculation of data information is realized. Processing can reduce the interference noise in the data information and improve the accuracy of the data information. The EEMD algorithm introduces noise-assisted analysis into the EMD decomposition. A group of random Gaussian white noises are added to the original signal to obtain the noisy sequence signal to be processed, which is decomposed to obtain modal components and residual components of each order. The modal components of each order obtained by decomposition are judged by frequency analysis and energy analysis to determine the modal components of noise and signal, remove the noise modal components, and reconstruct the remaining signal modal components to obtain the noise-reduced signal. The communication module is used to communicate with the Beidou module, which can realize the positioning of the data transmission terminal, facilitate the acquisition of data information to carry positioning information, and facilitate data information query and geological management.

[0089] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A BeiDou-3 based receiver, comprising a control module, characterized in that: The control module includes several single-chip microcomputer chips, which control and adjust the system to improve the stability of the system. The control module is electrically connected to a power supply module, which is used to supply power to the system and adjust the supply voltage to maintain the stability of the system. The control module is electrically connected to a processing module, and the processing module is used to process the transmitted data information. The processing module includes a receiving unit for acquiring the data information, a gain unit for amplifying the data information, a filtering unit for filtering the data information, and a conversion unit for performing analog-to-digital conversion on the data information, so as to realize receiving and processing the data information, and filtering the noise of the data information to improve the accuracy of the data information, and filtering the data information through the filtering unit to improve the accuracy of the data information, and the conversion unit is used to perform analog-to-digital conversion on the data information, and convert the analog signal into a digital signal, so as to facilitate subsequent calculation and processing of the data information; The filtering unit is a noise reduction process based on the EEMD algorithm. The EEMD algorithm introduces noise auxiliary analysis into EMD decomposition, adds a group of random Gaussian white noise to the original signal x(t), and the obtained noisy sequence signal to be processed is: x i (t)=x(t)+ω i (t),i=1,2,...,N, In the formula, x i (t) is the original signal, x(t) is the signal to be processed by adding Gaussian random white noise for the ith time; w i (t) is the random Gaussian white noise added for the i-th time. For each added noise signal x i (t) Perform EMD decomposition to obtain the m-order modal component and residual component: In the formula, c ij (t) is x i (t) j-th order modal component obtained by EMD decomposition; r i (t) is the residual component or trend term of the signal after removing m modal components; For N x i The j-th modal component c of the original signal x(t) can be obtained by taking the average value of the j-th modal component obtained by EMD decomposition. j (t); Similarly, the residual component r(t) of the original signal x(t) can be obtained by taking the average value of the N signal residual components, that is: The original signal is decomposed by EEMD to obtain the modal components and residual components of each order. The modal components of each order obtained by decomposition are judged by frequency analysis and energy analysis. The noise modal components are removed and the remaining signal modal components are reconstructed to obtain the denoised signal. Assume that the highest frequency of the signal is w0, and the frequency w of the 1st to j0-1th order IMF is j (j=1,...j0-1) all satisfy w j >w0, the 1st to j0-1th order modal components IMF are regarded as noise and removed; The energy analysis denoising method is to further denoise the j0th to mth order IMFs based on the frequency analysis method. The specific method is as follows; The energy density E0(t) of the j-th order IMF is calculated as: In the formula, A j (t) represents the amplitude of the j-th order IMF at time t; From the energy density E j (t), and find the energy p of the j-th order IMF j The average value of IMF energy (j=j0,j0+1,...m-1) is: The energy p of the j-th (j=j0,j0+1,...m-1)-th order IMF j The energy ratio R pj for: If the energy ratio R pj ≥1, it indicates that the j-th order IMF component is a signal; if the energy ratio R pj <1, it indicates that the j-th order component is noise; The processing module is electrically connected to a detection module, and the detection module is used to detect three-dimensional displacement, inclination and acceleration. The acceleration is detected by using an acceleration sensor SCA3300-D01, the three-dimensional displacement detection chip is U33, and the inclination detection chip is U138. The processing module is electrically connected to an interface module, and the interface module is used to connect to an external device to receive a detection signal from the external device. The processing module is electrically connected to a communication module, and the communication module is electrically connected to a Beidou module, and the Beidou module is used to achieve positioning and determine the data collection location.

2. A BeiDou-3 based receiver according to claim 1, characterized in that: The control module is electrically connected to a power supply module, which is used to power the system. The power supply module includes an adapter and a battery. The adapter is used to power the system and the battery and adjust the voltage, and the battery is used to power the system in the field.

3. A BeiDou-3 based receiver according to claim 2, characterized in that: The adapter includes several power supply circuits, including a chip power supply circuit, a main power supply circuit, a GNSS power supply circuit and a UHF power supply circuit. The chip power supply circuit is used to power the chip, the main power supply circuit is used to power the device, the GNSS power supply circuit is used to power Beidou satellite positioning, and the UHF power supply circuit is used to power ultra-high frequency communication.

4. A BeiDou-3 based receiver according to claim 3, characterized in that: The power supply circuit includes a switching regulator MPQ4433GL for on-off control and a 2A synchronous buck DC / DC for step-down processing. The switching regulator MPQ4433GL is electrically connected to the adapter, the battery and the 2A synchronous buck DC / DC respectively.

5. The BeiDou-3 based receiver according to claim 1, characterized in that: The control module includes several single-chip microcomputer chips MCIMX6Y2CVM08AB, which are used to control and adjust the system, and can control the system and calculate and process data information. The single-chip microcomputer chip MCIMX6Y2CVM08AB is electrically connected to a control button, which is a plurality of capacitors connected in parallel.

6. The BeiDou-3 based receiver according to claim 1, characterized in that: The processing module is electrically connected to an interface module, which is used to connect an external device. The interface module includes a LoRa antenna interface, 232+485+5V / 12V+GND, a USB interface and a LEMO interface. The LoRa antenna interface is used to connect an antenna, improve the communication capability of the device, and facilitate the transmission of data information. The 232+485+5V / 12V+GND is used for RS485 communication and to realize Beidou satellite communication connection. The USB interface is used to upload data information. The LEMO interface is used to connect an external device, which is convenient for connection and transmission of data information.

7. A BeiDou-3 based receiver according to claim 6, characterized in that: The communication module includes WIFI and NB-IOT communication. The LoRa antenna interface is electrically connected to the NB-IOT communication to improve the capability of the NB-IOT communication and facilitate the transmission of data information. The NB-IOT communication is used to realize Internet of Things connection and to realize electrical connection with the Beidou module to realize the transmission of data information. The WIFI is used to realize short-range data information transmission.

8. A BeiDou-3 based receiver according to claim 7, characterized in that: The NB-IOT communication includes a SIM card connector KP13, the SIM card connector KP13 is electrically connected to a surge protection diode ESD5Z3.3T1G, the SIM card connector KP13 is electrically connected to a SIM card connection slot U15B, and the SIM card connection slot U15B is electrically connected to the SIM card connector KP13; The control module is electrically connected to an auxiliary module, the auxiliary module includes a memory for data storage, the auxiliary module includes a half-duplex transceiver SN65HVD75DR and a connector 5027903091, and the half-duplex transceiver SN65HVD75DR and the connector 5027903091 are used for connecting the WIFI and the NB-IOT communications.

9. A BeiDou-3 based receiver according to claim 8, characterized in that: The NB-IOT communication also includes an anti-electromagnetic interference circuit, which includes a protection diode UESD6V8L4B. The anti-electromagnetic interference circuit is electrically connected to the SIM card connector KP13 to eliminate electromagnetic interference in communication.

10. A BeiDou-3 based receiver, characterized in that: The invention also comprises a bottom shell component (8), wherein a top cover (1) is provided on the top of the bottom shell component (8), a waterproof ring (4) is provided at the connection between the bottom shell component (8) and the top cover (1), an antenna (2), a connector (3), an MB component (5), a board (6) and a breathable bracket component (7) are provided between the bottom shell component (8) and the top cover (1), and a SIM card cover component (9), a seven-core waterproof seat (10) and a two-core waterproof seat (11) are provided on one side of the bottom shell component (8).

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