Method and operation system for collecting information of sugarcanes in multi-shielding environment

Abstract

The invention discloses a method for collecting information of sugarcanes in a multi-shielding environment and an operation system. The method comprises the following steps: placing a plurality of mobile base stations on the outer edge of a planting area of the sugarcanes to be detected; the mobile base station is connected with a ground base station, then first differential positioning is carried out, and real-time position information of the mobile base station is obtained; calling an acquisition terminal, preprocessing the acquisition terminal, then placing the acquisition terminal in a to-be-detected area, and establishing communication connection with the mobile base station; second differential positioning is carried out on the acquisition terminal, and the position coordinate information of the current acquisition terminal is acquired; and then moving the acquisition terminal in the sugar cane planting area, acquiring real-time position information when the terminal moves, performing information acquisition on the sugar cane by using the acquisition terminal, and storing and returning the information. The technical scheme disclosed by the invention is high in positioning precision and quick in response, can accurately obtain the planting information of the sugar cane in a severe environment, and makes up for the defects of the existing data acquisition means.

Description

Technical Field

[0001] The present application relates to the technical field of area information collection, and more specifically, to a method and an operating system for collecting sugar cane information in a multi-obstruction environment. Background Art

[0002] The sugar cane planting area is over 11 million mu, mainly distributed in Chongzuo, Baise, Hechi, Nanning, Liuzhou, Laibin, Qinzhou and other regions. In the process of sugar cane planting, accurate acquisition of sugar cane planting information is of great significance for planting, felling, transporting sugar crops and managing sugar production.

[0003] At present, in the existing technology, sugar cane usually uses high-resolution remote sensing imaging technology to obtain sugar cane map information of large areas. However, due to the influence of rainy weather and complex terrain conditions in South China, some remote areas have harsh environmental conditions, resulting in many planting areas being blocked by the environment and poor communication signals, and remote sensing imaging technology cannot be used normally. Even using space-based satellites or conventional ground means, it is still difficult to accurately collect sugar cane planting information, and there is a lack of accurate and effective information collection solutions.

[0004] Therefore, how to provide a method and operating system for collecting sugar cane information in a multi-occluded environment, which has high positioning accuracy and rapid response, and can accurately obtain sugar cane planting information in harsh environments to make up for the shortcomings of existing data collection methods. Summary of the invention

[0005] In order to solve the above technical problems, the present application provides a method and an operating system for collecting sugar cane information in a multi-occluded environment, which has high positioning accuracy and rapid response, and can accurately obtain sugar cane planting information in harsh environments, thus making up for the shortcomings of existing data collection methods.

[0006] The technical solutions provided by this application are as follows:

[0007] The present application provides a method for collecting sugar cane information in a multi-obstruction environment, comprising the following steps: S1, setting up a mobile base station: placing multiple mobile base stations at the outer edge of the sugar cane planting area to be tested; S2, determining the base station position: connecting the mobile base station to the ground base station, and then performing a first differential positioning to obtain the real-time position information of the mobile base station; S3, setting a collection terminal: calling the collection terminal, and pre-processing the collection terminal, and then placing the collection terminal in the sugar cane planting area to be tested, and establishing a communication connection with the mobile base station; S4, determining the terminal position: based on the mobile base station, performing a second differential positioning on the collection terminal, and obtaining the current position coordinate information of the collection terminal; S5, information data collection: moving the collection terminal in the sugar cane planting area, and obtaining the real-time position information of the terminal when moving, and then the collection terminal collects information on the sugar cane, obtains physiological parameter and ecological parameter information, and saves and transmits the information back.

[0008] Furthermore, in a preferred embodiment of the present invention, in step S2, the step of performing the first differential positioning and obtaining the real-time location information of the mobile base station includes:

[0009] S201, first calibrating the parameters of the mobile base station and the ground base station to make the communication protocols and frequencies of the two consistent, and establishing communication connections between the mobile base station, the ground base station and multiple satellites;

[0010] S202, then using the ground base station to observe the multiple satellites, and sending the observed satellite data in real time through a data communication link;

[0011] S203, then using the mobile base station to observe the multiple satellites, and receiving real-time signals sent by the ground base station during the observation;

[0012] S204. Finally, the mobile base station performs differential elimination on the received signals to eliminate the same error terms, calculates the three-dimensional coordinates of the mobile base station, and obtains the real-time position information of the mobile base station.

[0013] Furthermore, in a preferred embodiment of the present invention, in step S3, the step of preprocessing by the acquisition terminal includes:

[0014] First, the mobile acquisition parameters of the acquisition terminal are preset, and the communication parameters of the acquisition terminal are calibrated so that the communication protocol and wireless frequency of the acquisition terminal are consistent with those of the mobile base station;

[0015] Secondly, an offline map of the sugar cane planting area to be measured is pre-loaded in the acquisition terminal, and the map positioning and navigation service function is enabled.

[0016] Furthermore, in a preferred embodiment of the present invention, in step S4, the step of performing second differential positioning to obtain the real-time location information of the acquisition terminal includes:

[0017] S401, establishing a mobile base station set, and selecting n mobile base stations from the set;

[0018] S402, then obtain the three-dimensional position coordinates (X i ,Y i ,Z i ), i∈1,2...n, and preset the initial position coordinates (X, Y, Z) of the acquisition terminal;

[0019] S403, according to the three-dimensional position coordinate information of the mobile base station, obtain the distances from the acquisition terminal to the n mobile base stations, as well as the system clock error and propagation delay information, and calculate the time interval T from the acquisition terminal to the n mobile base stations according to the speed of radio waves. i ,i∈1,2...n;

[0020] S404, establishing a position distance equation between the acquisition terminal and the n mobile base stations, performing square difference on the position distance equation, and obtaining the differential position coordinates of the acquisition terminal;

[0021] S405: When the differential position coordinates meet the preset accuracy, lock the current position coordinates and obtain the current position coordinate information of the acquisition terminal.

[0022] Furthermore, in a preferred embodiment of the present invention, the position distance equation between the acquisition terminal and the n mobile base stations is specifically:

[0023]

[0024] Among them, (X, Y, Z) are the initial position coordinates, (X1, Y1, Z1), (X2, Y2, Z2), ..., (X n ,Y n ,Z n ) are the three-dimensional position coordinates of n mobile base stations; T i ,i∈1,2...n is the time interval, and c is the speed of radio waves.

[0025] Further, in a preferred embodiment of the present invention, in step S405, when the calculated position coordinates meet the preset accuracy, the step of locking the current position coordinates includes:

[0026] Preset accuracy error threshold;

[0027] Processing and analyzing the three-dimensional coordinate values ​​in the differential position coordinates, and then comparing them with the accuracy error threshold;

[0028] If the three-dimensional coordinate value after processing and analysis is within the accuracy error threshold, the current position coordinate information is locked; if the three-dimensional coordinate value after processing and analysis exceeds the accuracy error threshold, n+1 mobile base stations are reselected from the mobile base station set, and the differential position coordinates of the acquisition terminal are re-solved until the coordinates meet the accuracy error threshold;

[0029] Then, the redundant base station coordinates in the mobile base station set are obtained, and they are fitted with the locked position coordinate information, and the optimal solution of the acquisition terminal position coordinates is obtained by the least square method, thereby obtaining the real-time position information of the acquisition terminal.

[0030] Furthermore, in a preferred embodiment of the present invention, in step S5, the step of obtaining the real-time location information of the terminal movement is specifically as follows:

[0031] Move the acquisition terminal to obtain the position coordinate information of the acquisition terminal solved by the second differential positioning, perform Kalman filtering correction on the position coordinates of the acquisition terminal when moving through inertial navigation and position odometer, and obtain real-time position information of the terminal movement.

[0032] Furthermore, in a preferred embodiment of the present invention, the step of performing Kalman filtering correction on the position coordinates of the acquisition terminal when it moves includes:

[0033] Constructing a terminal movement physical model, the physical model consisting of a state equation and an observation equation, and then constructing a terminal movement observation model according to the mobile base station;

[0034] Based on the terminal acquisition parameters and the offline map, the state of the acquisition terminal is predicted using the physical model to obtain the optimal coordinate estimate at the next moment;

[0035] Then, the state of the acquisition terminal is updated at all times, and the observation model is used to obtain the coordinate observation value of the acquisition terminal at the current moment; the coordinate estimation value is compared with the coordinate observation value, the weight between the estimation error and the observation error is obtained, the proportional relationship between the estimation value and the observation value is adjusted, and the observation value at the current moment is linearly corrected to obtain the precise position coordinates of the acquisition terminal at the current moment;

[0036] Then the physical model predicts the optimal coordinate estimate of the acquisition terminal at the next moment based on the precise position coordinates; and as the moment is updated, the coordinate observation value at this moment is obtained through the observation model, and the comparison operation is repeated to perform linear correction on the coordinate observation value at this moment to obtain the precise position coordinates of the acquisition terminal at this moment;

[0037] Finally, the prediction and update steps are repeated, and the observed values ​​are linearly corrected to obtain more accurate position information of the acquisition terminal during mobile acquisition.

[0038] Furthermore, in a preferred embodiment of the present invention, in step S5, the physiological parameter information includes: sugarcane type, seedling growth, field size and sugarcane disaster information; the ecological parameter information includes: farmland environment soil moisture, temperature and humidity, sunshine, wind and rainfall information.

[0039] The present application also provides an operation system for collecting sugar cane information in a multi-occlusion environment, which is used to implement a method for collecting sugar cane information in the multi-occlusion environment, including:

[0040] Mobile base stations, collection terminals and management systems;

[0041] The mobile base station includes an antenna module, a GNSS differential RTK positioning module, a first communication module and a power module; the mobile base station is connected with the ground base station to calculate and obtain the real-time position information of the mobile base station, and establish a communication connection with the acquisition terminal;

[0042] The acquisition terminal includes a GNSS positioning module, an inertial navigation module, a position odometer module, a camera module and a second communication module; the acquisition terminal establishes a wireless transmission channel with a mobile base station through the second communication module to obtain the status information of the mobile base station; the GNSS positioning module, combined with the status information of the mobile base station, is used to obtain the position coordinate information of the acquisition terminal; the inertial navigation module and the position odometer module are used to correct the real-time position information of the acquisition terminal when it moves; the camera module is used for the planting information of sugar cane;

[0043] The management system includes a map module, a positioning module, a task management module, a monitoring management module and a data statistics module; the map module is used to provide basic map services, place name and address services, and visualize map application scenarios; the positioning module is used to obtain the location information of the mobile base station and the collection terminal through the wireless network, and display their location and trajectory on the map; the task management module is used to distribute and dispatch tasks, check the completion status of jobs and perform task scheduling; the monitoring management module is used to monitor and manage multiple collection terminals in real time, and provide update, maintenance management, versioning and quality evaluation functions for multi-user job data; the data statistics module is used to analyze and determine whether the collected data is missing, count the collected information, and obtain data statistical reports.

[0044] The present invention provides a method and an operating system for collecting sugar cane information in a multi-obstruction environment. The method for collecting sugar cane information in a multi-obstruction environment comprises the following steps: S1, setting up a mobile base station: placing multiple mobile base stations at the outer edge of the sugar cane planting area to be tested; S2, determining the base station position: connecting the mobile base station to a ground base station, and then performing a first differential positioning to obtain real-time position information of the mobile base station; S3, setting a collection terminal: calling a collection terminal, and pre-processing the collection terminal, and then placing the collection terminal in the sugar cane planting area to be tested, and establishing a communication connection with the mobile base station; S4, determining the terminal position: based on the mobile base station, performing a second differential positioning on the collection terminal, and obtaining the current position coordinate information of the collection terminal; S5, information data collection: moving the collection terminal in the sugar cane planting area, and obtaining real-time position information when the terminal moves, and then the collection terminal collects information on the sugar cane, obtains physiological parameter and ecological parameter information, and saves and transmits the information back. In the method for collecting sugar cane information provided by the present invention, a mobile base station is set up in the sugar cane planting area to be tested, so that the collection terminal obtains accurate real-time position information and wireless communication links when moving for information collection, so that it can accurately collect the planting information of sugar cane in the area to be tested, and transmit the information back in real time afterwards to complete the collection of sugar cane information; in this method, it is first necessary to determine the sugar cane planting area to be tested, and arrange mobile base stations at the outer edge of the area. The mobile base stations are connected with the ground base stations of the Beidou Ground-Based Augmentation System to obtain the position coordinates of the mobile base stations, which provides a communication basis for subsequent terminal information collection; then the information collection work is carried out, and the collection Before the terminal officially starts working, it needs to be preprocessed. The preprocessing operation includes calibrating parameters to ensure that the terminal can communicate normally, and loading regional maps to realize map navigation when the collection terminal moves; after the collection terminal is preprocessed, it can perform information collection operations. During the collection process, as the position information changes with the movement of the terminal, the real-time position information of the collection terminal is determined by differential positioning, and the position information is optimized and corrected; then the collection terminal collects the planting information of sugar cane according to the system task arrangement, obtains physiological parameters and ecological parameter information, saves the information and transmits it back to complete the collection of sugar cane information in a multi-occluded environment. Therefore, compared with the prior art, the technical solution involved in the present invention has high positioning accuracy and rapid response, and can accurately obtain sugar cane planting information in harsh environments, making up for the shortcomings of existing data collection methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A flowchart of the steps of the method for collecting sugar cane information in a multi-occlusion environment according to an embodiment of the present invention;

[0047] Figure 2 A schematic diagram of the positioning principle of the mobile base station involved in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the positioning principle of the acquisition terminal involved in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of this application.

[0050] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0051] It should be understood that the terms "length", "width", "up", "down", "front", "back", "first", "second", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0053] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0054] Please Figures 1 to 3 As shown, the present application provides a method and an operating system for collecting sugar cane information in a multi-obstruction environment, wherein the method for collecting sugar cane information in a multi-obstruction environment includes the following steps: S1, setting up a mobile base station: placing multiple mobile base stations at the outer edge of the sugar cane planting area to be tested; S2, determining the base station position: connecting the mobile base station to the ground base station, and then performing a first differential positioning to obtain the real-time position information of the mobile base station; S3, setting a collection terminal: calling the collection terminal, and pre-processing the collection terminal, and then placing the collection terminal in the sugar cane planting area to be tested, and establishing a communication connection with the mobile base station; S4, determining the terminal position: based on the mobile base station, performing a second differential positioning on the collection terminal, and obtaining the current position coordinate information of the collection terminal; S5, information data collection: moving the collection terminal in the sugar cane planting area, and obtaining the real-time position information of the terminal when moving, and then the collection terminal collects information on the sugar cane, obtains physiological parameter and ecological parameter information, and saves and transmits the information back. The technical solution involved in the present invention has high positioning accuracy and rapid response, and can accurately obtain sugar cane planting information in harsh environments, thus making up for the shortcomings of existing data collection methods.

[0055] The following is a detailed description of the method for collecting sugar cane information in a multi-occlusion environment disclosed in the present invention in combination with a specific embodiment. The method for collecting sugar cane information includes:

[0056] S1. Setting up mobile base stations: Place multiple mobile base stations at the outer edge of the sugar cane planting area to be tested.

[0057] Among them, in the embodiments of the present invention, there are some sugar cane planting areas that are remote, and in a multi-obstruction environment, the communication signal is poor and the map navigation cannot be loaded. If the collection terminal is directly used to collect information in the area to be tested, the collection task cannot be completed; therefore, in this collection method, first after determining the sugar cane planting area to be tested, the mobile base station is set at the edge of the area to provide spatial coordinate information and wireless communication links for subsequent collection terminals, which can meet subsequent information collection needs.

[0058] S2. Determine the base station location: connect the mobile base station to the ground base station, and then perform a first differential positioning to obtain the real-time location information of the mobile base station.

[0059] Among them, in an embodiment of the present invention, after several mobile base stations are arranged at the outer edge of the sugar cane planting area, it is necessary to determine the position of the mobile base station to provide a positioning reference for the subsequent acquisition of the real-time position information of the acquisition terminal; in the step of determining the position of the base station, the mobile base station must first be connected to the Beidou Ground-Based Augmentation System ground base station to perform the first differential positioning, and the first differential positioning is specifically GNSS differential RTK positioning, so as to obtain the real-time position information of the current mobile base station.

[0060] Specifically, in a specific embodiment of the present invention, in step S2, the first differential positioning is performed, and the step of obtaining the real-time position information of the mobile base station includes: S201, first calibrating the parameters of the mobile base station and the ground base station so that the communication protocols and frequencies of the two are consistent, and establishing communication connections between the mobile base station, the ground base station and multiple satellites; S202, then using the ground base station to observe the multiple satellites, and sending the observed satellite data in real time through the data communication link; S203, then using the mobile base station to observe the multiple satellites, and receiving the real-time signals sent by the ground base station while observing; S204, finally the mobile base station differentially eliminates the same error terms on the received signals, calculates the three-dimensional coordinates of the mobile base station, and obtains the real-time position information of the mobile base station.

[0061] Among them, RTK technology, also known as carrier phase difference technology, is a differential method that can process the carrier phase observations of two measuring stations in real time, that is, the carrier phase collected by the base station is sent to the user receiver to calculate the difference coordinates; in a specific embodiment of the present invention, differential positioning is performed using a mobile base station, a ground base station and several multi-band satellites, and the mobile base station and the ground base station are both observation stations: first, the communication parameters of the mobile base station need to be calibrated, including the wireless communication protocol and frequency points, so that communication interaction can be achieved between the mobile base station, the ground base station and the multi-band satellite; then the satellite data observed by the GPS receiver on the ground base station is sent out through the radio station, and the GPS receiver on the mobile base station arranged in the sugar cane planting area receives the satellite data while also receiving the radio signal from the ground base station, and then the received signal is differentially eliminated to eliminate the same error terms, so that the three-dimensional coordinates of the mobile base station can be given.

[0062] Specifically, in a specific embodiment of the present invention, the step of eliminating the same error term by differential means includes: eliminating the difference between observations obtained by different observation stations synchronously observing the same satellite, that is, eliminating single differences; eliminating the difference between single differences of observations obtained by different observation stations synchronously observing a group of satellites, that is, eliminating double differences; eliminating the difference between double differences of observations obtained by different observation stations synchronously observing the same group of satellites, that is, eliminating triple differences.

[0063] Among them, in the embodiments of the present invention, the single difference is eliminated, that is, the satellite clock error is eliminated, and the current layer and tropospheric delay errors are basically eliminated; the double difference is eliminated, that is, the ephemeris error is eliminated, and the current layer and tropospheric delay errors are further eliminated; the triple difference is eliminated, that is, the integer ambiguity, current layer, and tropospheric delay errors are eliminated.

[0064] S3. Setting a collection terminal: calling a collection terminal, and pre-processing the collection terminal, and then placing the collection terminal in a sugar cane planting area to be tested, and establishing a communication connection with the mobile base station.

[0065] Specifically, in a specific embodiment of the present invention, in step S3, the step of preprocessing of the acquisition terminal includes: first, presetting the mobile acquisition parameters of the acquisition terminal, and calibrating the communication parameters of the acquisition terminal to make the communication protocol and wireless frequency of the acquisition terminal consistent with those of the mobile base station; secondly, pre-loading an offline map of the sugar cane planting area to be tested in the acquisition terminal, and starting the map positioning and navigation service function.

[0066] Among them, the main body for obtaining sugar cane information adopts a collection terminal, and the collection terminal adopts a handheld collection terminal. The staff carries the handheld collection terminal and moves in the sugar cane planting area to collect information. Before the collection terminal formally carries out the collection operation, the collection terminal needs to be pre-processed first. First, a wireless communication link needs to be established. For this purpose, parameter calibration is required to ensure the consistency of communication protocol, wireless frequency and other parameters. Moreover, in order to ensure the correct working route of the collection terminal, the second step of preprocessing also needs to load the map of the area to be tested in the collection terminal, so that the collection terminal can move along the correct route to collect information.

[0067] S4. Determine the terminal location: Based on the mobile base station, perform a second differential positioning on the acquisition terminal to obtain the current location coordinate information of the acquisition terminal.

[0068] Specifically, in a specific embodiment of the present invention, in step S4, the second differential positioning is performed, and the step of obtaining the real-time location information of the acquisition terminal includes: S401, establishing a mobile base station set, and selecting n mobile base stations from the set; S402, then obtaining the three-dimensional position coordinates (X i ,Y i ,Z i ),i∈1,2...n, and preset the initial position coordinates (X,Y,Z) of the acquisition terminal; S403, according to the three-dimensional position coordinate information of the mobile base station, obtain the distances from the acquisition terminal to the n mobile base stations, as well as the system clock error and propagation delay information, and calculate the time interval T from the acquisition terminal to the n mobile base stations according to the speed of radio waves i ,i∈1,2...n; S404, establish the position distance equation between the acquisition terminal and the n mobile base stations, perform square difference on the position distance equation, and calculate the differential position coordinates of the acquisition terminal; S405, when the differential position coordinates meet the preset accuracy, lock the current position coordinates and obtain the current position coordinate information of the acquisition terminal.

[0069] Specifically, in a specific embodiment of the present invention, the position distance equation between the acquisition terminal and the n mobile base stations is specifically:

[0070]

[0071] Among them, (X, Y, Z) are the initial position coordinates, (X1, Y1, Z1), (X2, Y2, Z2), ..., (X n ,Y n ,Z n ) are the three-dimensional position coordinates of n mobile base stations; T i,i∈1,2...n is the time interval, and c is the speed of radio waves.

[0072] Among them, after the collection terminal completes preprocessing, the information collection operation can be carried out. At this time, the key is to determine the initial position coordinates of the collection terminal and the real-time position information of the collection terminal when it is moving; in a specific embodiment of the present invention, the acquisition of position coordinate information is achieved by differential positioning of the collection terminal; when performing differential positioning, the number n of base stations selected from the mobile base station set must be greater than or equal to 3; by obtaining the system clock difference and propagation delay information, and based on the radio wave speed, the time interval from the collection terminal to the mobile base station is calculated, so as to establish an equation to obtain the differential position coordinates; generally, if the number of selected mobile base stations is small, the differential position coordinates calculated by the differential solution still have large errors. At this time, it is necessary to use the redundant mobile base station coordinates in the set for fitting, and use the least squares method to obtain the optimal solution for the position coordinate information of the collection terminal.

[0073] Specifically, in a specific embodiment of the present invention, in step S405, when the calculated position coordinates meet the preset accuracy, the step of locking the current position coordinates includes: presetting an accuracy error threshold; processing and analyzing the three-dimensional coordinate values ​​in the differential position coordinates, and then comparing them with the accuracy error threshold; if the three-dimensional coordinate values ​​after processing and analysis are within the accuracy error threshold, the current position coordinate information is locked; if the three-dimensional coordinate values ​​after processing and analysis exceed the accuracy error threshold, n+1 mobile base stations are reselected from the mobile base station set, and the differential position coordinates of the acquisition terminal are re-solved until the coordinates meet the accuracy error threshold; then, the redundant base station coordinates in the mobile base station set are obtained, and they are fitted with the locked position coordinate information, and the optimal solution of the position coordinates of the acquisition terminal is obtained by the least squares method, thereby obtaining the real-time position information of the acquisition terminal.

[0074] S5. Information data collection: Move the collection terminal in the sugar cane planting area and obtain the real-time position information of the terminal when it moves. Then the collection terminal collects information on the sugar cane, obtains physiological parameter and ecological parameter information, and saves and transmits the information back.

[0075] Specifically, in a specific embodiment of the present invention, in step S5, the step of obtaining the real-time position information of the terminal movement is specifically: moving the collection terminal, obtaining the position coordinate information of the collection terminal solved by the second differential positioning, performing Kalman filtering correction on the position coordinates of the collection terminal when moving through inertial navigation and position odometer, and obtaining the real-time position information of the terminal movement.

[0076] Specifically, in a specific embodiment of the present invention, the Kalman filter correction step includes: a prediction step: obtaining a dynamic model of the movement of the acquisition terminal, and predicting the state of the acquisition terminal at the current moment based on the dynamic model and an estimate of the previous state of the acquisition terminal; an update step: obtaining actual measurement data of the acquisition terminal, and the Kalman filter automatically adjusts the weight according to the reliability of the actual measurement data, and then combines the predicted state with the actual measurement data, and corrects the state estimate through weighted averaging to obtain a more accurate state estimate value.

[0077] Specifically, in a specific embodiment of the present invention, the step of performing Kalman filtering correction on the position coordinates of the acquisition terminal when it moves includes: constructing a terminal movement physical model, the physical model consisting of a state equation and an observation equation, and then constructing a terminal movement observation model according to the mobile base station; based on the terminal acquisition parameters and the offline map, using the physical model to predict the state of the acquisition terminal to obtain its optimal coordinate estimation value at the next moment; then the state of the acquisition terminal is updated at all times, and the coordinate observation value of the acquisition terminal at the current moment is obtained using the observation model; the coordinate estimation value is compared with the coordinate observation value, the weight between the estimation error and the observation error is obtained, the proportional relationship between the estimation value and the observation value is adjusted, the observation value at the current moment is linearly corrected, and the precise position coordinates of the acquisition terminal at the current moment are obtained; then the physical model predicts the optimal coordinate estimation value of the acquisition terminal at the next moment according to the precise position coordinates; and as the time is updated, the coordinate observation value at this moment is obtained through the observation model, the comparison operation is repeated, the coordinate observation value at this moment is linearly corrected, and the precise position coordinates of the acquisition terminal at this moment are obtained; finally, the prediction and update steps are repeated, and the observation value is linearly corrected, so as to obtain more accurate position information of the acquisition terminal during mobile acquisition.

[0078] Among them, in order to improve the accuracy of the real-time position information of the acquisition terminal; on the basis of obtaining the position coordinate information of the acquisition terminal through differential positioning, the position coordinates are optimized; in a specific embodiment of the present invention, when the operator moves with the collection terminal in hand, the real-time position is corrected by Kalman filtering through inertial navigation and position odometer. Kalman filtering is a method based on probabilistic reasoning, which estimates the system of the system by fusing the prediction model and measurement data of the system. The Kalman filter correction mainly includes two steps of prediction and update. In the prediction stage, the state at the current moment is predicted by the best estimate and physical model of the previous moment. In the update stage, the measurement data at the current moment is compared with the predicted data, and the weight is dynamically adjusted according to the observation reliability to correct the state estimate, and the updated state estimate is obtained, so as to obtain more accurate position information and optimize the observation data and state model.

[0079] Specifically, in a specific embodiment of the present invention, in step S5, the physiological parameter information includes: sugarcane type, seedling growth, field size and sugarcane disaster information; the ecological parameter information includes: farmland environment soil moisture, temperature and humidity, sunshine, wind and rainfall information.

[0080] Specifically, in a specific embodiment of the present invention, in step S5, the step of collecting information on the size of the sugar cane field by the acquisition terminal includes: step one, determining the regional boundary: establishing a positioning coordinate system, then selecting a measurement starting point at the edge of the plot to be measured, starting the acquisition terminal to walk around the plot to be measured, recording the walking information and forming a closed trajectory, and generating boundary trajectory data; step two, obtaining a regional image: collecting an image of the sugar cane planting area to be measured, and grayscale processing the image, combining the image ratio and the boundary trajectory data to form a terrain contour map of the plot to be measured; step three, dividing the area to be measured: modeling and processing the terrain contour map, and dividing the model into a straight boundary plane area, a curved boundary plane area and a curved surface area according to the terrain contour of the plot to be measured; step four, block area calculation: classify and calculate the image area of ​​the straight boundary plane area, the curved boundary plane area and the curved surface area; step five, automatic area summary: using the image area and combining the image ratio to perform area conversion to obtain the regional area, and then automatically summarizing the regional area to obtain the field size information of the sugar cane planting area to be measured.

[0081] Specifically, in a specific embodiment of the present invention, in step S5, the step of collecting information on the sugarcane types of sugar cane by the collection terminal includes: step one: constructing a sugarcane type comparison model in the collection terminal; step two: a staff member holds the collection terminal and moves in the sugarcane planting area to be tested to obtain image information of the crop; step three: inputting the image information into the sugarcane type comparison model, and the model outputs the sugarcane type information of the area to be tested.

[0082] Specifically, in a specific embodiment of the present invention, the steps of constructing a sugarcane variety comparison model include: obtaining sugarcane variety pictures, each sugarcane variety corresponds to a number of pictures, classifying them and combining them by type to form a picture set; based on the picture set, extracting feature information of each sugarcane variety, and combining them to form a feature set; constructing a sugarcane variety comparison model, and inputting the feature set and the sugarcane variety name as input values ​​into the sugarcane variety comparison model to obtain accurate variety recognition logic.

[0083] The present application also provides an operating system for collecting sugar cane information in a multi-obstruction environment, which is used to implement the method for collecting sugar cane information in the multi-obstruction environment, including: a mobile base station, a collection terminal and a management system; the mobile base station includes an antenna module, a GNSS differential RTK positioning module, a first communication module and a power module; the mobile base station is connected with a ground base station to calculate and obtain the real-time position information of the mobile base station, and establish a communication connection with the collection terminal; the collection terminal includes a GNSS positioning module, an inertial navigation module, a position odometer module, a camera module and a second communication module; the collection terminal establishes a wireless transmission channel with the mobile base station through the second communication module to obtain the status information of the mobile base station; the GNSS positioning module, combined with the status information of the mobile base station, is used to obtain the position coordinate information of the collection terminal; the inertial navigation module, the position odometer module, the camera module and the second communication module The meter module is used to correct the real-time position information of the acquisition terminal when it moves; the camera module is used for the planting information of sugar cane; the management system includes a map module, a positioning module, a task management module, a monitoring management module and a data statistics module; the map module is used to provide basic map services, place name and address services, and visualize map application scenarios; the positioning module is used to obtain the location information of the mobile base station and the acquisition terminal through the wireless network, and display its location and trajectory on the map; the task management module is used to distribute dispatch tasks, check the completion status of operations and perform task scheduling; the monitoring management module is used to monitor and manage multiple acquisition terminals in real time, and provide update, maintenance and management, versioning and quality evaluation functions for multi-user operation data; the data statistics module is used to analyze and determine whether the collected data is missing, count the collected information, and obtain data statistical reports.

[0084] In summary, the method and operating system for collecting sugar cane information in a multi-obstruction environment involved in the embodiments of the present invention can solve the problem in the prior art that the environment in the sugar cane planting area is multi-obstructed and conventional methods cannot collect sugar cane planting information. The method for collecting sugar cane information in a multi-obstruction environment provided by the present invention sets up a mobile base station in the sugar cane planting area to be tested, so that the collection terminal can obtain accurate real-time location information and wireless communication links when moving for information collection, so that it can accurately collect the planting information of sugar cane in the area to be tested, and transmit the information back in real time afterwards to complete the collection of sugar cane information; in this method, it is first necessary to determine the sugar cane planting area to be tested, and arrange mobile base stations at the outer edge of the area. The mobile base stations are connected with the ground base stations of the Beidou Ground-Based Augmentation System to obtain the location coordinates of the mobile base stations, which provide a communication basis for subsequent terminals to collect information; then the information collection work is carried out , before the collection terminal officially starts working, it needs to be preprocessed. The preprocessing operation includes calibrating parameters to ensure that the terminal can communicate normally, and loading regional maps to realize map navigation when the collection terminal moves; after the collection terminal is preprocessed, it can perform information collection operations. During the collection process, as the position information changes with the movement of the terminal, the real-time position information of the collection terminal is determined by differential positioning, and the position information is optimized and corrected; then the collection terminal collects the planting information of sugar cane according to the system task arrangement, obtains physiological parameters and ecological parameter information, saves the information and transmits it back to complete the collection of sugar cane information in a multi-occluded environment. Therefore, compared with the prior art, the technical solution involved in the present invention has high positioning accuracy and rapid response, and can accurately obtain sugar cane planting information in harsh environments, making up for the shortcomings of existing data collection methods.

[0085] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for collecting sugar cane information in a multi-obstruction environment, characterized in that: The following steps are involved: S1. Setting up mobile base stations: placing multiple mobile base stations at the outer edge of the sugar cane planting area to be tested; S2. Determine the base station position: connect the mobile base station to the ground base station, and then perform a first differential positioning to obtain the real-time position information of the mobile base station; S3, setting a collection terminal: calling a collection terminal, preprocessing the collection terminal, and then placing the collection terminal in a sugar cane planting area to be tested, and establishing a communication connection with the mobile base station; S4. Determine the terminal position: Based on the mobile base station, perform a second differential positioning on the acquisition terminal to obtain the current position coordinate information of the acquisition terminal; S5. Information data collection: Move the collection terminal in the sugar cane planting area and obtain the real-time position information of the terminal when it moves. Then the collection terminal collects information on the sugar cane, obtains physiological parameter and ecological parameter information, and saves and transmits the information back.

2. The method for collecting sugar cane information in a multi-obstruction environment according to claim 1, characterized in that: In step S2, the first differential positioning is performed, and the step of obtaining the real-time position information of the mobile base station includes: S201, first calibrating the parameters of the mobile base station and the ground base station to make the communication protocols and frequencies of the two consistent, and establishing communication connections between the mobile base station, the ground base station and multiple satellites; S202, then using the ground base station to observe the multiple satellites, and sending the observed satellite data in real time through a data communication link; S203, then using the mobile base station to observe the multiple satellites, and receiving real-time signals sent by the ground base station during the observation; S204. Finally, the mobile base station performs differential elimination on the received signals to eliminate the same error terms, calculates the three-dimensional coordinates of the mobile base station, and obtains the real-time position information of the mobile base station.

3. The method for collecting sugar cane information in a multi-occluded environment according to claim 1, characterized in that: In step S3, the step of preprocessing performed by the acquisition terminal includes: First, the mobile acquisition parameters of the acquisition terminal are preset, and the communication parameters of the acquisition terminal are calibrated so that the communication protocol and wireless frequency of the acquisition terminal are consistent with those of the mobile base station; Secondly, an offline map of the sugar cane planting area to be measured is pre-loaded in the acquisition terminal, and the map positioning and navigation service function is enabled.

4. The method for collecting sugar cane information in a multi-occluded environment according to claim 3, characterized in that: In step S4, the second differential positioning is performed to obtain the real-time location information of the acquisition terminal, including: S401, establishing a mobile base station set, and selecting n mobile base stations from the set; S402, then obtain the three-dimensional position coordinates (X i ,Y i ,Z i ), i∈1,2...n, and preset the initial position coordinates (X, Y, Z) of the acquisition terminal; S403, according to the three-dimensional position coordinate information of the mobile base station, obtain the distances from the acquisition terminal to the n mobile base stations, as well as the system clock error and propagation delay information, and calculate the time interval T from the acquisition terminal to the n mobile base stations according to the speed of radio waves. i ,i∈1,2...n; S404, establishing a position distance equation between the acquisition terminal and the n mobile base stations, performing square difference on the position distance equation, and obtaining the differential position coordinates of the acquisition terminal; S405: When the differential position coordinates meet the preset accuracy, lock the current position coordinates and obtain the current position coordinate information of the acquisition terminal.

5. The method for collecting sugar cane information in a multi-obstruction environment according to claim 4, characterized in that: The position distance equation between the acquisition terminal and the n mobile base stations is specifically: Among them, (X, Y, Z) are the initial position coordinates, (X1, Y1, Z1), (X2, Y2, Z2), ..., (X n ,Y n ,Z n ) are the three-dimensional position coordinates of n mobile base stations; T i ,i∈1,2...n is the time interval, and c is the speed of radio waves.

6. The method for collecting sugar cane information in a multi-occluded environment according to claim 4, characterized in that: In step S405, when the calculated position coordinates meet the preset accuracy, the step of locking the current position coordinates includes: Preset accuracy error threshold; Processing and analyzing the three-dimensional coordinate values ​​in the differential position coordinates, and then comparing them with the accuracy error threshold; If the three-dimensional coordinate value after processing and analysis is within the accuracy error threshold, the current position coordinate information is locked; The redundant base station coordinates in the mobile base station set are obtained, and the coordinates are fitted with the locked position coordinate information to obtain the optimal solution of the acquisition terminal position coordinates.

7. The method for collecting sugar cane information in a multi-occluded environment according to claim 4, characterized in that: In step S5, the steps of obtaining the real-time location information of the terminal movement are specifically as follows: Move the acquisition terminal to obtain the position coordinate information of the acquisition terminal solved by the second differential positioning, perform Kalman filtering correction on the position coordinates of the acquisition terminal when moving through inertial navigation and position odometer, and obtain real-time position information of the terminal movement.

8. The method for collecting sugar cane information in a multi-obstruction environment according to claim 7, characterized in that: The steps of performing Kalman filtering correction on the position coordinates of the acquisition terminal when it moves include: Constructing a terminal movement physical model, and constructing a terminal movement observation model according to the mobile base station; Based on the terminal acquisition parameters and the offline map, the state of the acquisition terminal is predicted using the physical model to obtain the optimal coordinate estimate at the next moment; Then, the state of the acquisition terminal is updated at all times, and the observation model is used to obtain the coordinate observation value of the acquisition terminal at the current moment; the coordinate estimation value is compared with the coordinate observation value, the weight between the estimation error and the observation error is obtained, the proportional relationship between the estimation value and the observation value is adjusted, and the observation value at the current moment is linearly corrected to obtain the precise position coordinates of the acquisition terminal at the current moment; Then the physical model predicts the optimal coordinate estimate of the acquisition terminal at the next moment based on the precise position coordinates; linear correction is performed on the coordinate observation value at this moment to obtain the precise position coordinates of the acquisition terminal at this moment; The prediction and update steps are repeated with a linear correction applied to the observations.

9. The method for collecting sugar cane information in a multi-obstruction environment according to claim 1, characterized in that: In step S5, the physiological parameter information includes: sugarcane type, seedling growth, field size and sugarcane disaster information; the ecological parameter information includes: farmland environment soil moisture, temperature and humidity, sunshine, wind and rainfall information.

10. An operating system for collecting sugar cane information in a multi-occluded environment, used to implement the method for collecting sugar cane information in a multi-occluded environment as claimed in any one of claims 1 to 9, characterized in that: include: Mobile base stations, collection terminals and management systems; The mobile base station includes an antenna module, a GNSS differential RTK positioning module, a first communication module and a power module; The mobile base station is connected with the ground base station to calculate and obtain the real-time location information of the mobile base station and establish a communication connection with the acquisition terminal; The acquisition terminal includes a GNSS positioning module, an inertial navigation module, a position odometer module, a camera module and a second communication module; the acquisition terminal establishes a wireless transmission channel with a mobile base station through the second communication module to obtain the status information of the mobile base station; The GNSS positioning module is used to obtain the location coordinate information of the acquisition terminal in combination with the mobile base station status information; The inertial navigation module and the location odometer module are used to correct the real-time location information of the acquisition terminal when it moves; the camera module is used for the planting information of sugar cane; The management system includes a map module, a positioning module, a task management module, a monitoring management module and a data statistics module; the map module is used to provide basic map services, place name and address services, and visualize map application scenarios; The positioning module is used to obtain the location information of the mobile base station and the acquisition terminal through the wireless network, and display their location and trajectory on the map; The task management module is used to distribute and dispatch tasks, check the completion status of jobs and perform task scheduling; The monitoring and management module is used to monitor and manage multiple acquisition terminals in real time, and provide update maintenance management, version processing and quality evaluation functions for multi-user operation data; the data statistics module is used to analyze and determine whether the collected data is missing, count the collected information, and obtain data statistical reports.

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