Method and operation system for collecting sugar cane information in a multi-occlusion environment

Abstract

The application discloses a method and an operation system for collecting sugar cane information in a multi-shelter environment, which comprises the following steps: placing a plurality of mobile base stations at the outer edge of a sugar cane planting area to be measured; connecting the mobile base stations with ground base stations, and then performing first differential positioning to obtain real-time position information of the mobile base stations; calling a collection terminal, and pretreating the collection terminal, and then placing the collection terminal in the area to be measured, and establishing a communication connection with the mobile base stations; then performing second differential positioning on the collection terminal to obtain position coordinate information of the current collection terminal; then moving the collection terminal in the sugar cane planting area, obtaining real-time position information of the terminal during movement, and collecting information of the sugar cane by using the collection terminal, and saving and returning the information. The technical scheme disclosed by the application has high positioning accuracy and rapid response, can accurately obtain planting information of the sugar cane in a harsh environment, and makes up for the deficiency of existing data collection means.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of area information collection, more particularly to a method and system for collecting sugar cane information in a multi-sheltered environment. BACKGROUND

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

[0003] At present, in the prior art, high-resolution remote sensing image technology is usually used to obtain sugar cane plot information in a large area. However, due to the influence of the rainy weather in South China and the complex terrain conditions, the environment in some remote areas is poor, resulting in that many planting areas are sheltered by the environment and the communication signal is poor, so the remote sensing image technology cannot be used normally. Even if space-based satellites or conventional ground means are used, it is still difficult to accurately collect the planting information of sugar cane, and there is a lack of accurate and effective information collection scheme.

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

[0005] To solve the above technical problems, the present application provides a method and system for collecting sugar cane information in a multi-sheltered environment, which has high positioning accuracy and rapid response, can accurately obtain the planting information of sugar cane in a harsh environment, and make up for the shortcomings of existing data collection means.

[0006] The technical scheme provided by the present application is as follows:

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

[0008] Further, in a preferred mode of the application, in step S2, the step of performing first differential positioning to obtain real-time position information of the mobile base station comprises:

[0009] S201, first, calibrate the parameters of the mobile base station and the ground base station to keep the communication protocols and frequencies consistent, and establish a communication connection between the mobile base station and the ground base station and a plurality of satellites;

[0010] S202, then use the ground base station to observe the plurality of satellites, and send the observed satellite data to the ground base station through a data communication link in real time;

[0011] S203, then use the mobile base station to observe the plurality of satellites, and receive the real-time signals sent by the ground base station at the same time;

[0012] S204, finally, the mobile base station differentiates and eliminates the same error terms from the received signals to calculate the three-dimensional coordinates of the mobile base station, and obtain real-time position information of the mobile base station.

[0013] Further, in a preferred mode of the application, in step S3, the step of pretreating the collection terminal comprises:

[0014] First, preset the mobile collection parameters of the collection terminal, and calibrate the communication parameters of the collection terminal to keep the communication protocols and wireless frequencies of the collection terminal and the mobile base station consistent;

[0015] Secondly, pre-load the offline map of the sugar cane planting area to be measured in the collection terminal, and start the map positioning and navigation service function.

[0016] Further, in a preferred manner of the present application, in step S4, the step of obtaining the real-time position information of the collection terminal comprises:

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

[0018] S402, subsequently obtaining three-dimensional position coordinates (X i ,Y i ,Z i ) of the n mobile base stations, i∈1, 2...n, and presetting initial position coordinates (X, Y, Z) of the collection terminal;

[0019] S403, according to the three-dimensional position coordinate information of the mobile base stations, obtaining distances of the collection terminal to the n mobile base stations respectively, and system clock difference and propagation time delay information, and calculating time intervals T i ,i∈1, 2...n of the collection terminal to the n mobile base stations according to the speed of radio wave;

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

[0021] S405, when the differential position coordinates meet the preset accuracy, locking the current position coordinates, and obtaining position coordinate information of the current collection terminal.

[0022] Further, in a preferred manner of the present application, the position distance equation between the collection terminal and the n mobile base stations is specifically:

[0023]

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

[0025] Further, in a preferred manner of the present application, in step S405, when the calculated position coordinates meet the preset accuracy, the step of locking the current position coordinates comprises:

[0026] presetting an accuracy error threshold;

[0027] processing and analyzing the three-dimensional coordinate value in the differential position coordinate, and then comparing the three-dimensional coordinate value with the precision error threshold value;

[0028] If the three-dimensional coordinate value after processing and analyzing is within the precision error threshold value, the current position coordinate information is locked; if the three-dimensional coordinate value after processing and analyzing exceeds the precision error threshold value, n+1 mobile base stations in the mobile base station set are reselected, the differential position coordinate of the collection terminal is resolved again, and the process is repeated until the coordinate meets the precision error threshold value;

[0029] Then, the coordinate of the excess base station in the mobile base station set is obtained, fitted with the locked position coordinate information, and the optimal solution of the position coordinate of the collection terminal is obtained by the least square method, so as to obtain the real-time position information of the collection terminal.

[0030] Further, in a preferred manner of the present application, in step S5, the step of obtaining the real-time position information of the terminal movement is specifically:

[0031] The collection terminal is moved, the position coordinate information of the collection terminal resolved by the second differential positioning is obtained, the Kalman filter correction is performed on the position coordinate of the collection terminal during movement by inertial navigation and position odometry, and the real-time position information of the terminal movement is obtained.

[0032] Further, in a preferred manner of the present application, the step of performing Kalman filter correction on the position coordinate of the collection terminal during movement includes:

[0033] A terminal movement physical model is constructed, the physical model is composed of a state equation and an observation equation, and then a terminal movement observation model is constructed according to the mobile base station;

[0034] Based on the terminal collection parameters and the offline map, the state of the collection terminal is predicted using the physical model, and the optimal coordinate prediction value of the collection terminal at the next moment is obtained;

[0035] Then, the state of the collection terminal is updated, the coordinate observation value of the collection terminal at the current moment is obtained using the observation model; the coordinate prediction value and the coordinate observation value are compared, the weight between the prediction error and the observation error is obtained, the proportional relationship between the prediction value and the observation value is adjusted, the observation value at the current moment is linearly corrected, and the accurate position coordinate of the collection terminal at the current moment is obtained;

[0036] Then, the physical model predicts the optimal coordinate prediction value of the collection terminal at the next moment according to the accurate position coordinate, and with the time updating, 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 accurate position coordinate of the collection terminal at this moment is obtained;

[0037] Finally, the prediction and updating steps are repeated, and the observation value is linearly corrected, so as to obtain more accurate position information of the collection terminal in mobile collection.

[0038] Further, in a preferred mode of the present application, in step S5, the physiological parameter information includes sugarcane variety, seedling growth, field size, and sugarcane disaster situation information; and the ecological parameter information includes farmland environment soil moisture, temperature and humidity, sunshine, wind power, and rainfall information.

[0039] The present application also provides an operation system for collecting sugar cane information in a multi-sheltered environment, for implementing the method for collecting sugar cane information in the multi-sheltered environment, comprising:

[0040] a mobile base station, a collection terminal, and a management system;

[0041] The mobile base station comprises an antenna module, a GNSS differential RTK positioning module, a first communication module, and a power supply module; the mobile base station is associated with a ground base station for joint measurement, for calculating and obtaining real-time position information of the mobile base station, and establishing a communication connection with the collection terminal;

[0042] The collection terminal comprises a GNSS positioning module, an inertial navigation module, a position odometry 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 state information of the mobile base station; the GNSS positioning module, in combination with the state information of the mobile base station, is used to obtain position coordinate information of the collection terminal; the inertial navigation module and the position odometry module are used to correct real-time position information of the collection terminal during movement; and the camera module is used for planting information of sugar cane.

[0043] The management system comprises 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 visual map application scenarios; the positioning module is used to obtain position information of the mobile base station and the collection terminal through a wireless network, and display their positions and trajectories on a map; the task management module is used to distribute and dispatch tasks, check work completion, and perform task scheduling work; the monitoring management module is used to real-time monitor and manage multiple collection terminals, and provide functions of updating and maintaining management of multi-user work data, version processing, and quality evaluation; and the data statistics module is used to analyze and judge whether collection data is missing, to statistically collect information, and to obtain data statistical reports.

[0044] The application provides a method and operation system for collecting sugar cane information in a multi-sheltered environment, and the method comprises the following steps: S1, setting up a mobile base station: placing a plurality of mobile base stations at the outer edge of a sugar cane planting area to be measured; S2, determining the position of the base station: connecting the mobile base station with a ground base station, then performing first differential positioning to obtain real-time position information of the mobile base station; S3, setting up a collection terminal: calling a collection terminal, and pretreating the collection terminal, then placing the collection terminal in the sugar cane planting area to be measured, and establishing a communication connection with the mobile base station; S4, determining the position of the terminal: based on the mobile base station, performing second differential positioning on the collection terminal to obtain the 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 of the terminal during movement, then the collection terminal collects information of the sugar cane to obtain physiological parameter and ecological parameter information, and saves and returns the information. In the method for collecting sugar cane information provided by the application, the mobile base station is erected in the sugar cane planting area to be measured, so that the collection terminal can obtain accurate real-time position information and a wireless communication link during information collection and movement, and can accurately collect the planting information of the sugar cane in the measured area, and the information is returned in real time after the information collection, so as to complete the collection of the sugar cane information. In the method, the sugar cane planting area to be measured is first determined, and the mobile base station is arranged at the outer edge of the area. The mobile base station is measured with the ground base station of the Beidou ground enhancement system, so that the position coordinates of the mobile base station can be obtained, and a communication foundation is provided for the subsequent terminal information collection. Then, the information collection work is performed. Before the collection terminal formally works, pretreatment is required, and the pretreatment operation includes calibrating parameters to ensure that the terminal can normally communicate, and loading a regional map to realize map navigation during movement of the collection terminal. After the pretreatment of the collection terminal, the information collection work can be performed. During the collection process, the position information changes with the movement of the terminal, and 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 the sugar cane according to the system task arrangement, obtains the physiological parameter and ecological parameter information, saves and returns the information, so as to complete the collection of the sugar cane information in the multi-sheltered environment. Therefore, compared with the prior art, the technical scheme related to the application has high positioning accuracy and rapid response, can accurately obtain the planting information of the sugar cane in a harsh environment, and makes up for the shortcomings of the existing data collection means. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0046] Fig. 1 For the method for collecting sugar cane information in the multi-occlusion environment according to the embodiments of the present application, a step flow chart is provided.

[0047] Fig. 2 For the positioning principle diagram of the mobile base station according to the embodiments of the present application.

[0048] Fig. 3 For the positioning principle diagram of the mobile base station according to the embodiments of the present application. DETAILED DESCRIPTION

[0049] In order to make the skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0050] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly disposed 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", "upper", "lower", "front", "back", "first", "second", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0052] In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as implying or suggesting relative importance or an indicated number of the technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" or "several" is two or more, unless otherwise explicitly and specifically limited.

[0053] It should be understood that the structures, proportions, sizes, etc. shown in the drawings of the present application are only used to understand and read the disclosed content by those skilled in the art, and do not define the limiting conditions for the implementation of the present application, and therefore do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, which does not affect the effect and purpose that can be achieved by the present application, should still fall within the scope of the disclosed technical content.

[0054] As shown in Figs. 1 to 3 The present application provides a method and system for collecting sugar cane information in a multi-sheltered environment, wherein the method for collecting sugar cane information in a multi-sheltered environment comprises the following steps: S1, setting up a mobile base station: placing a plurality of mobile base stations at the outer edge of the sugar cane planting area to be measured; S2, determining the base station position: connecting the mobile base station with the ground base station, then performing first differential positioning to obtain real-time position information of the mobile base station; S3, setting up a collection terminal: calling a collection terminal and preprocessing the collection terminal, then placing the collection terminal in the sugar cane planting area to be measured and establishing a communication connection with the mobile base station; S4, determining the terminal position: based on the mobile base station, performing second differential positioning on the collection terminal to obtain 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 of the terminal during movement, then the collection terminal collects information of sugar cane to obtain physiological and ecological parameter information, saves and returns the information. The technical solution disclosed in the present application has high positioning accuracy and rapid response, and can accurately obtain planting information of sugar cane in harsh environments, making up for the shortcomings of existing data collection means.

[0055] The method for collecting sugar cane information in a multi-sheltered environment disclosed in the present application will be described in detail below in combination with specific embodiments. The method for collecting sugar cane information comprises:

[0056] S1, setting up a mobile base station: placing a plurality of mobile base stations at the outer edge of the sugar cane planting area to be measured.

[0057] In the embodiment of the present application, some sugar cane planting areas are located in remote areas, and in the multi-shading 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 to-be-tested area, the collection task cannot be completed. Therefore, in the present collection method, after determining the to-be-tested sugar cane planting area, the mobile base station is arranged at the edge of the area to provide spatial coordinate information and a wireless communication link for the subsequent collection terminal, which can meet the subsequent information collection requirements.

[0058] S2, determining the base station position: connecting the mobile base station with the ground base station, and then performing first differential positioning to obtain real-time position information of the mobile base station.

[0059] In the embodiment of the present application, after arranging a plurality of mobile base stations at the outer edge of the sugar cane planting area, the positions of the mobile base stations need to be determined to provide a positioning reference for subsequently obtaining real-time position information of the collection terminal. In the step of determining the base station position, the mobile base station needs to be connected with the ground base station of the Beidou ground enhancement system first, and first differential positioning is performed, which is specifically GNSS differential RTK positioning, to obtain real-time position information of the mobile base station.

[0060] Specifically, in the embodiment of the present application, in step S2, the step of performing first differential positioning to obtain real-time position information of the mobile base station includes: S201, first calibrating parameters of the mobile base station and the ground base station to keep the communication protocols and frequencies of the two consistent, and establishing a communication connection between the mobile base station and the ground base station and a plurality of satellites; S202, then observing the plurality of satellites with the ground base station, and sending satellite data obtained by observation to the mobile base station in real time through a data communication link; S203, then observing the plurality of satellites with the mobile base station, receiving real-time signals sent by the ground base station while observing; S204, finally, the mobile base station differentiates and eliminates the same error terms from the received signals, calculates three-dimensional coordinates of the mobile base station, and obtains real-time position information of the mobile base station.

[0061] RTK technology, also known as carrier phase difference technology, is a difference method capable of real-time processing of carrier phase observation of two stations, that is, the carrier phase collected by the reference station is sent to the user receiver to solve the difference and calculate the coordinates; in the specific embodiment of the present application, differential positioning is performed by using a mobile base station, a ground base station and a plurality of 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 wireless communication protocol and frequency point, so that communication interaction can be realized 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 and the radio signal from the ground base station at the same time, then the received signals are differenced to eliminate the same error terms, and the three-dimensional coordinates of the mobile base station can be given.

[0062] Specifically, in the specific embodiment of the present application, the step of differencing to eliminate the same error terms includes: eliminating the difference between the observation values obtained by different observation stations observing the same satellite synchronously, that is, eliminating single difference; eliminating the difference between the single differences of the observation values obtained by different observation stations observing a group of satellites synchronously, that is, eliminating double difference; and eliminating the difference between the double differences of the observation values obtained by different observation stations observing the same group of satellites synchronously, that is, eliminating triple difference.

[0063] In the embodiment of the present application, single difference is eliminated, that is, satellite clock error is eliminated, and ionospheric delay error is basically eliminated; double difference is eliminated, that is, ephemeris error is eliminated, and ionospheric delay error is further eliminated; and triple difference is eliminated, that is, integer ambiguity, ionospheric delay error and tropospheric delay error are eliminated.

[0064] S3, setting a collection terminal: calling the collection terminal, and preprocessing the collection terminal, and then placing the collection terminal in the sugar cane planting area to be measured, and establishing communication connection with the mobile base station.

[0065] Specifically, in the specific embodiment of the present application, in step S3, the step of preprocessing the collection terminal includes: first, presetting the mobile collection parameters of the collection terminal, and calibrating the communication parameters of the collection terminal, so that the communication protocol and wireless frequency of the collection terminal are consistent with those of the mobile base station; second, preloading the offline map of the sugar cane planting area to be measured in the collection terminal, and starting the map positioning and navigation service function.

[0066] The subject for acquiring sugar cane information adopts a collection terminal, the collection terminal adopts a handheld collection terminal, a staff member carries the handheld collection terminal to move in a sugar cane planting area to perform information collection work; before the collection terminal formally performs collection work, the collection terminal needs to be preprocessed first, a wireless communication link needs to be established first, parameter calibration needs to be performed to ensure consistency of communication protocols, wireless frequencies and the like; and, to ensure a correct route for the collection terminal to work, a second step of preprocessing also needs to load a to-be-tested area map in the collection terminal to enable the collection terminal to move according to a correct route to perform information collection.

[0067] S4, determining a terminal position: based on the mobile base station, performing second differential positioning on the collection terminal to obtain position coordinate information of the collection terminal.

[0068] Specifically, in the embodiment of the application, in step S4, the step of performing second differential positioning to obtain real-time position information of the collection terminal includes: S401, establishing a set of mobile base stations, and selecting n mobile base stations from the set; S402, subsequently obtaining three-dimensional position coordinates (X i ,Y i ,Z i ) of the n mobile base stations, i∈1,2...n, and pre-setting initial position coordinates (X, Y, Z) of the collection terminal; S403, according to the three-dimensional position coordinate information of the mobile base stations, obtaining distances of the collection terminal to the n mobile base stations respectively, and system clock difference and propagation time delay information, and calculating time intervals T i ,i∈1,2...n of the collection terminal to the n mobile base stations according to the speed of radio waves; S404, establishing a position distance equation between the collection terminal and the n mobile base stations, performing square difference on the position distance equation, and solving differential position coordinates of the collection terminal; S405, when the differential position coordinates meet a preset accuracy, locking a current position coordinate to obtain position coordinate information of the collection terminal.

[0069] Specifically, in the embodiment of the application, the position distance equation between the collection terminal and the n mobile base stations is specifically:

[0070]

[0071] wherein (X, Y, Z) are initial position coordinates, (X1, Y1, Z1), (X2, Y2, Z2),......, (X n ,Y n ,Z n ) are three-dimensional position coordinates of the n mobile base stations; T iti is the time interval, c is the radio wave speed.

[0072] Wherein, after the collection terminal completes the pretreatment, the information collection operation can be carried out, at this time, the key is to determine the initial position coordinate of the collection terminal and the real-time position information of the collection terminal when moving; in the specific embodiment of the application, the position coordinate information is obtained by differential positioning of the collection terminal; when differential positioning is carried out, the number n of base stations selected from the set of mobile base stations needs to be greater than or equal to 3; the time interval of the collection terminal to the mobile base station is calculated by the obtained system clock difference and propagation delay information and according to the radio wave speed, so as to establish an equation and obtain the differential position coordinate; generally, if the number of selected mobile base stations is small, the differential position coordinate solved by differential solution still has a large error, at this time, the coordinates of the excess mobile base stations in the set are used for fitting to obtain the optimal solution of the position coordinate information of the collection terminal by the least square method.

[0073] Specifically, in the specific embodiment of the application, when the calculated position coordinate meets the preset accuracy in step S405, the step of locking the current position coordinate comprises: presetting an accuracy error threshold; processing and analyzing the three-dimensional coordinate values in the differential position coordinate, 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 set of mobile base stations, the differential position coordinate of the collection terminal is re-solved until the coordinate meets the accuracy error threshold; then the coordinates of the excess base stations in the set of mobile base stations are obtained, which are fitted with the locked position coordinate information to obtain the optimal solution of the position coordinate of the collection terminal by the least square method, so as to obtain the real-time position information of the collection terminal.

[0074] 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, then the collection terminal collects information of sugar cane, obtains physiological parameter and ecological parameter information, saves and returns the information.

[0075] Specifically, in the specific embodiment of the application, in step S5, the step of obtaining the real-time position information of the terminal moving is specifically: moving the collection terminal, obtaining the position coordinate information of the collection terminal solved by the second differential positioning, and performing Kalman filter correction on the position coordinate of the collection terminal when moving by inertial navigation and position odometry to obtain the real-time position information of the terminal moving.

[0076] Specifically, in the specific embodiments of the present application, the step of Kalman filter correction comprises: a prediction step of obtaining a dynamic model of movement of the collection terminal, and predicting the state of the collection terminal at the current time according to the dynamic model and the estimation of the previous state of the collection terminal; and an updating step of obtaining actual measurement data of the collection terminal, and automatically adjusting the weight of the Kalman filter according to the reliability of the actual measurement data, and then combining the predicted state with the actual measurement data to correct the state estimation by weighted average, and obtaining a more accurate state estimation value.

[0077] Specifically, in the specific embodiments of the present application, the step of Kalman filter correction of the position coordinates of the collection terminal during movement comprises: constructing a physical model of terminal movement, which is composed of a state equation and an observation equation, and then constructing a terminal movement observation model based on the mobile base station; predicting the state of the collection terminal using the physical model based on the terminal collection parameters and the offline map to obtain the optimal coordinate estimation value of the collection terminal at the next time; then updating the state of the collection terminal at the time, and obtaining the coordinate observation value of the collection terminal at the current time using the observation model; comparing the coordinate estimation value with the coordinate observation value to obtain the weight between the estimation error and the observation error, adjusting the proportional relationship between the estimation value and the observation value, linearly correcting the observation value at the current time, and obtaining the accurate position coordinates of the collection terminal at the current time; then the physical model predicts the optimal coordinate estimation value of the collection terminal at the next time according to the accurate position coordinates; and with time updating, the coordinate observation value at this time is obtained through the observation model, the comparison operation is repeated, the coordinate observation value at this time is linearly corrected, and the accurate position coordinates of the collection terminal at this time are obtained; finally, the prediction and updating steps are repeated, and the observation value is linearly corrected, so as to obtain more accurate position information of the collection terminal during movement collection.

[0078] In order to improve the accuracy of the real-time position information of the collection terminal, the position coordinates are optimized on the basis of obtaining the position coordinate information of the collection terminal through differential positioning. In the specific embodiments of the present application, when the work personnel hold the collection terminal to move, the real-time position is corrected by Kalman filter through inertial navigation and position odometry. Kalman filter is a method based on probability reasoning, which estimates the system of the system by fusing the prediction model of the system and the measurement data. The Kalman filter correction mainly includes two steps of prediction and updating. In the prediction stage, the state at the current time is predicted through the best estimation at the last time and the physical model. In the updating stage, the measurement data at the current time is compared with the prediction data, the weight is dynamically adjusted according to the observation reliability, the state estimation is corrected, the updated state estimation value is obtained, more accurate position information is obtained, and the observation data and the state model are optimized.

[0079] Specifically, in specific embodiments of the present application, in step S5, the physiological parameter information includes: sugar cane variety, seedling growth, field size and sugar cane disaster situation information; the ecological parameter information includes: farmland environment soil moisture, temperature and humidity, sunshine, wind and rainfall information.

[0080] Specifically, in specific embodiments of the present application, in step S5, the information collection step of the collection terminal on the field size of sugar cane includes: step one, determining the region boundary: establishing a positioning coordinate system, then selecting a measurement starting point at the edge of the to-be-measured field, starting the collection terminal to walk around the to-be-measured field, recording the walking information and forming a closed trajectory, and generating boundary trajectory data; step two, obtaining the region image: collecting the image of the to-be-measured sugar cane planting area, and performing gray scale processing on the image, combining the image scale and the boundary trajectory data to form a topographic profile of the to-be-measured field; step three, dividing the to-be-measured region: modeling the topographic profile, dividing the model into straight boundary plane regions, curved boundary plane regions and curved surface regions according to the topographic profile of the to-be-measured field; step four, block area calculation: classifying and calculating the image area of the straight boundary plane region, the curved boundary plane region and the curved surface region; step five, area automatic summarization: using the image area and combining the image scale to convert the area to obtain the region area, and then automatically summarizing the region area to obtain the field size information of the to-be-measured sugar cane planting area.

[0081] Specifically, in specific embodiments of the present application, in step S5, the information collection step of the collection terminal on the sugar cane variety of sugar cane includes: step one: constructing a sugar cane variety comparison model in the collection terminal; step two: the staff handholds the collection terminal to move in the to-be-measured sugar cane planting area, and obtains the picture information of the crops; step three: inputting the picture information into the sugar cane variety comparison model, and the model outputs the sugar cane variety information of the to-be-measured region.

[0082] Specifically, in specific embodiments of the present application, the step of constructing a sugar cane variety comparison model includes: obtaining sugar cane variety pictures, each sugar cane variety corresponding to a plurality of pictures, classifying and combining the pictures according to the variety to form a picture set; according to the picture set, extracting the feature information of each sugar cane variety to form a feature set; constructing a sugar cane variety comparison model, inputting the feature set and the sugar cane variety name as input values into the sugar cane variety comparison model to obtain accurate variety identification logic.

[0083] The application also provides a working system for collecting sugar cane information in a multi-shelter environment, which is used to realize the method for collecting sugar cane information in the multi-shelter environment, comprising a mobile base station, a collection terminal and a management system; the mobile base station comprises an antenna module, a GNSS differential RTK positioning module, a first communication module and a power module; the mobile base station is associated with a ground base station for measurement, used to calculate and obtain real-time position information of the mobile base station, and establish a communication connection with the collection terminal; the collection terminal comprises 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 state information of the mobile base station; the GNSS positioning module is used to obtain position coordinate information of the collection terminal in combination with the state information of the mobile base station; the inertial navigation module and the position odometer module are used to correct real-time position information of the collection terminal when moving; the camera module is used for planting information of sugar cane; the management system comprises 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 visual map application scenarios; the positioning module is used to obtain position information of the mobile base station and the collection terminal through a wireless network to show their positions and trajectories on a map; the task management module is used to distribute and dispatch tasks, check work completion and perform task scheduling work; the monitoring management module is used to real-time monitor and manage multiple collection terminals, provide update and maintenance management, version processing and quality evaluation functions for multi-user work data; and the data statistics module is used to analyze and judge whether the collected data is missing, to count collected information and to obtain data statistics reports.

[0084] In summary, the method for collecting sugar cane information in a multi-sheltered environment and the operation system according to the embodiments of the present application can solve the problem that the conventional method cannot collect the planting information of sugar cane in the sugar cane planting area with a multi-sheltered environment. The method for collecting sugar cane information in a multi-sheltered environment provided by the present application can obtain accurate real-time position information and wireless communication link for the collection terminal when the terminal moves for information collection, so that the terminal can accurately collect the planting information of sugar cane in the to-be-measured area, and the information can be transmitted in real time after the collection, so as to complete the collection of sugar cane information. In the method, the sugar cane planting area to be measured is determined first, and the mobile base station is arranged at the outer edge of the area. The mobile base station is associated with the ground base station of the Beidou ground enhancement system for joint measurement, so that the position coordinates of the mobile base station can be obtained, and a communication basis can be provided for the subsequent information collection of the terminal. Then, the information collection work is performed. Before the collection terminal formally works, the terminal needs to be pretreated. The pretreatment operation includes calibrating parameters to ensure that the terminal can normally communicate, and loading the area map to realize map navigation when the collection terminal moves. After the pretreatment of the collection terminal, the information collection work can be performed. During the collection process, 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 the physiological parameter and ecological parameter information, saves and transmits the information, so as to complete the collection of sugar cane information in a multi-sheltered environment. Therefore, compared with the prior art, the technical solution of the present application has high positioning accuracy and rapid response, can accurately obtain the planting information of sugar cane in a harsh environment, and makes up for the deficiency of the existing data collection means.

[0085] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for collecting sugarcane information under multi-obstruction environments, characterized in that, Includes the following steps: S1. Set up mobile base stations: Place multiple mobile base stations on the outer edge of the sugarcane planting area to be tested; S2. Determine the location of the base station: Connect the mobile base station to the ground base station, and then perform the first differential positioning to obtain the real-time location information of the mobile base station; S3. Set up the data acquisition terminal: Call the data acquisition terminal and preprocess it. Then place the data acquisition terminal in the sugarcane planting area to be tested and establish a communication connection with the mobile base station. S4. Determine the terminal location: Based on the mobile base station, perform second differential positioning on the data acquisition terminal to obtain the current location coordinate information of the data acquisition terminal; S5. Information and data collection: The collection terminal is moved in the sugarcane planting area and the real-time location information of the terminal is obtained when it moves. Then the collection terminal collects information from the sugarcane, obtains physiological and ecological parameters, saves the information and transmits it back. The physiological parameters include: sugarcane type, seedling growth, field size, and sugarcane disaster information; the ecological parameters include: farmland environment soil moisture, temperature and humidity, sunshine, wind force, and rainfall information; the preprocessing steps of the data collection terminal include: First, the mobile acquisition parameters of the acquisition terminal are preset, and the communication parameters of the acquisition terminal are calibrated to ensure 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 sugarcane planting area to be tested is preloaded into the data acquisition terminal, and the map positioning and navigation service function is enabled. The steps for performing second differential positioning to obtain the real-time location information of the acquisition terminal include: S401. Establish a set of mobile base stations, and select n mobile base stations from the set; S402, Then obtain the three-dimensional position coordinates of the n mobile base stations. And preset the initial position coordinates of the acquisition terminal. ; S403. Based on the three-dimensional position coordinates of the mobile base stations, obtain the distances from the acquisition terminal to each of the n mobile base stations, as well as the system clock error and propagation delay information. Then, based on the speed of radio waves, calculate the time intervals between the acquisition terminal and the n mobile base stations. ; S404. Establish the position distance equation between the acquisition terminal and the n mobile base stations, perform squared difference on the position distance equation, and obtain the difference 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. In step S5, the specific steps for obtaining the real-time location information of the terminal's movement are as follows: The acquisition terminal is moved to obtain its position coordinates, which are obtained through the second differential positioning. The position coordinates of the acquisition terminal during movement are then corrected using inertial navigation and a position odometer via Kalman filtering to obtain the real-time position information of the terminal. The steps of correcting the position coordinates of the acquisition terminal during movement via Kalman filtering include: Construct a physical model of terminal movement, and construct a terminal movement observation model based on the mobile base station; Based on the terminal's collected parameters and the offline map, the physical model is used to predict the state of the collected terminal and obtain its optimal coordinate estimate for the next moment. Subsequently, the terminal status is updated continuously, and the observation model is used to obtain the coordinate observation value of the terminal at the current moment. The estimated coordinate value is compared with the observed coordinate value to obtain the weight between the estimation error and the observation error. The ratio between the estimated value and the observed value is adjusted, and the observed value at the current moment is linearly corrected to obtain the precise position coordinates of the terminal at the current moment. Next, the physical model predicts the optimal coordinate estimate of the acquisition terminal at the next moment based on the precise location coordinates; the coordinate observation value at this moment is linearly corrected to obtain the precise location coordinates of the acquisition terminal at this moment; Repeat the prediction and update steps, and apply linear corrections to the observations.

2. The method for collecting sugarcane information under multi-obstruction environments according to claim 1, characterized in that, In step S2, the step of performing first differential positioning to obtain the real-time location information of the mobile base station includes: S201. First, calibrate the parameters of the mobile base station and the ground base station to ensure that their communication protocols and frequency points are consistent, and establish communication connections between the mobile base station and the ground base station and multiple satellites. S202. Subsequently, the ground base station is used to observe the multiple satellites, and the observed satellite data is sent out in real time through the data communication link; S203. Next, the mobile base station is used to observe the multiple satellites, and at the same time, it receives real-time signals from the ground base station. S204. Finally, the mobile base station performs differential elimination of identical error terms on the received signal, calculates the three-dimensional coordinates of the mobile base station, and obtains the real-time location information of the mobile base station.

3. The method for collecting sugarcane information under multi-obstruction environments according to claim 1, characterized in that, The specific equation for the location distance between the data acquisition terminal and the n mobile base stations is as follows: ...... in, These are the initial position coordinates. Let n be the three-dimensional location coordinates of mobile base stations; Let c be the time interval and c be the speed of radio waves.

4. The method for collecting sugarcane information under multi-obstruction environments according to claim 3, 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; The three-dimensional coordinate values ​​in the differential position coordinates are processed and analyzed, and then compared with the accuracy error threshold. If the processed and analyzed three-dimensional coordinate values ​​are within the accuracy error threshold, then the current position coordinate information is locked. Obtain the coordinates of redundant base stations in the mobile base station set, and fit them with the locked location coordinate information to obtain the optimal solution for the location coordinates of the acquisition terminal.

5. A system for collecting sugarcane information under multi-obstruction environments, used to implement the method for collecting sugarcane information under multi-obstruction environments as described in any one of claims 1 to 4, characterized in that, include: Mobile base stations, data acquisition 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 supply module; The mobile base station and the ground base station are connected for testing, which is used to calculate and obtain the real-time location information of the mobile base station and establish a communication connection with the data acquisition terminal. The data acquisition terminal includes a GNSS positioning module, an inertial navigation module, a position odometer module, a camera module, and a second communication module; the data acquisition terminal establishes a wireless transmission channel with the mobile base station through the second communication module to obtain the mobile base station status information; The GNSS positioning module, in conjunction with the mobile base station status information, is used to obtain the location coordinate information of the data 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 sugarcane planting information; 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 data 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, view the completion status of tasks, and perform task scheduling. The monitoring and management module is used to monitor and manage multiple acquisition terminals in real time, and provides functions for updating, maintaining, managing, versioning, and evaluating the quality of multi-user job data; the data statistics module is used to analyze and determine whether the acquired data is missing, collect data statistics, and obtain data statistics reports.

Images