An integrated system for positioning modeling of field exploration based on radio positioning
By integrating data control, transceiver control, and 3D modeling modules, the radio positioning system solves the problems of low efficiency in equipment collaboration and poor real-time performance of 3D modeling in field exploration. It achieves efficient positioning and real-time modeling in environments without base station signals, thereby improving exploration efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA WATER RESOURCES & HYDROPOWER CONSTR ENG CONSULTING GUIYANG CO LTD
- Filing Date
- 2026-01-16
- Publication Date
- 2026-05-29
AI Technical Summary
In field exploration, existing equipment lacks data interoperability and unified control, resulting in low efficiency of multi-device collaborative work, time-consuming information fusion processing, and positioning failure or reduced accuracy in environments without base station signals. Traditional communication methods are difficult to connect stably under extreme conditions, and 3D modeling cannot be generated and updated in real time, affecting exploration efficiency and safety.
Design an integrated system based on radio positioning, integrating a data control module, a transceiver control module, and a 3D modeling module onto a single circuit board. Initial positioning and calibration are achieved through inertial navigation, a BeiDou module, and an interactive module. Multi-mode communication is achieved by combining an RDSS module and a radio frequency module. The 3D modeling module builds and updates the map model in real time.
It improves the portability and reliability of field exploration equipment, reduces equipment redundancy, ensures the accuracy of modeling and positioning in environments without external signals, enhances adaptability to harsh environments, realizes the automation of real-time 3D modeling and emergency communication, and reduces dependence on external signals.
Smart Images
Figure CN122115757A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the fields of surveying and radio navigation, and more specifically, to an integrated system for field exploration positioning modeling based on radio positioning. Background Technology
[0002] When reconstructing a 3D scene based on the environment of a field exploration, it is necessary to record images of the entire exploration process for 3D scene construction. However, in practical applications, the location of field exploration often lacks base station signals. Therefore, exploration personnel need to carry communication equipment to conduct effective navigation, positioning, and communication in the absence of base station signals. At the same time, when constructing the 3D scene, it is also necessary to ensure that the images can be effectively aligned with positioning and orientation.
[0003] In existing technologies, different devices perform different functions. For example, individual handheld GPS devices, satellite phones, and camera modeling devices each perform independent functions. There is a lack of effective data communication and unified control methods between different devices. The collaborative work of multiple devices is inefficient and prone to failure, and information fusion processing is time-consuming, significantly impacting exploration efficiency. Simultaneously, a single GNSS solution (such as BeiDou / GPS) is prone to signal loss in obstructed environments, leading to positioning failures or severely reduced accuracy. Furthermore, traditional communication methods (such as ordinary satellite phones) may struggle to establish stable connections in certain extreme terrains or severe weather conditions, affecting communication support in emergencies. In traditional work methods, 3D modeling often requires data collection in the field followed by post-processing using specialized software indoors. It is impossible to generate and update models in real-time on-site, making it difficult to provide immediate guidance for exploration decisions. There is a lack of efficient automatic correlation mechanisms between positioning information, image data, and the final geographic model, requiring significant manual intervention for registration and integration.
[0004] Therefore, an integrated system for field exploration positioning and modeling is needed to solve the efficiency problem of 3D scene construction in field exploration environments. Summary of the Invention
[0005] To achieve the above objectives, this application provides an integrated system for field exploration positioning and modeling based on radio positioning, the core modules of which include a data control module, a transceiver control module, and a 3D modeling module; Among them, the data control module is used to start and execute positioning tasks and provide positioning information to the 3D modeling module; The transceiver control module responds to positioning control commands, corrects the positioning, and generates positioning information to return to the data control center. The 3D modeling module obtains positioning information sent from the data control module and combines it with map information to realize the real-time construction and updating of the map 3D model; The core modules are integrated onto a single circuit board and packaged as a whole to form an integrated system for field exploration, positioning, and modeling.
[0006] Among them, the data control module is connected to the inertial navigation module, the Beidou module, and the interaction module to perform positioning tasks; Among them, the inertial navigation module and the Beidou module are used for navigation; The interactive module includes waterproof-encapsulated physical buttons and a display screen for interacting with the user; The Beidou module connects to the data control module via a UART serial port to achieve initial positioning and start / stop according to user commands.
[0007] Furthermore, the inertial navigation module, Beidou module, and interaction module are integrated with the core module onto a single circuit board and packaged as a whole.
[0008] The positioning task includes initial positioning and positioning calibration. Initial positioning is achieved through the coordination of the data control module and the inertial navigation module, including: the data control module is connected to the inertial navigation module through the UART serial port, maintains positioning for a short period of time in the absence of signal, and acquires initial positioning information; The positioning calibration principle is implemented through the BeiDou module and the transceiver control module. The BeiDou module performs absolute position calibration, and the data control module sends positioning control commands to the transceiver control module. After receiving the return information of the positioning control commands, positioning correction is achieved.
[0009] Furthermore, the transceiver control module is connected to the radio frequency module, the RDSS module, and the parameter storage module; When the transceiver control module responds to the positioning control command, it controls the radio frequency module antenna to transmit and receive radio signals and controls the RDSS module to correct the positioning. The parameter storage module is used to store communication mode data and satellite star map data; The RF module, RDSS module, parameter storage module and core module are integrated on a single circuit board and packaged as a whole.
[0010] The RDSS module connects to the transceiver control module via a UART serial port to acquire positioning information and perform positioning correction. The radio frequency module is connected to the transceiver control module via a UART serial port, and uses an analog intercom device to transmit and receive radio signals through an antenna to achieve positioning calibration during emergency communication. The RDSS module shares an antenna with the RF module to enhance the positioning signal.
[0011] The communication mode data is used to control the transceiver control module to send radio signals in a preset manner. The communication mode data includes the communication channel, communication content, transmission frequency, and waiting time. The preset manner includes information such as emergency call, timed report, abnormality report, and equipment failure. Satellite imagery data is used for communication with satellites during emergency calls and anomaly reporting.
[0012] Furthermore, the 3D modeling module is connected to the image processing module, map storage module, and electronic compass; The electronic compass is fixed in close contact with the camera to obtain directional information indicating the direction the camera is facing; the camera acquires image information and transmits it to the image processing module. The map storage module and the 3D modeling module are connected via eMMC.
[0013] The image processing module connects to the 3D modeling module via an SPI interface to transmit images.
[0014] When constructing a 3D map model, the 3D modeling module obtains image information from the image processing module, direction information from the electronic compass, and existing 3D map model data from the map storage module. After the 3D modeling module combines the direction information with the image information to generate a 3D map model, the 3D map model data is stored in the map storage module to update the 3D map model.
[0015] Furthermore, the image processing module, map storage module, and core module are integrated onto a single circuit board and packaged together.
[0016] According to this invention, by integrating hardware and unifying the scheduling of the data platform, multiple functions are aggregated into a single system, significantly reducing equipment redundancy. This includes multi-source data fusion positioning technology based on radio positioning and inertial navigation, reducing the carrying burden on users. Even in environments without external signals, the system, through RDSS correction, multi-mode communication, and real-time modeling technologies, can still ensure the accuracy of modeling and positioning, enhancing its adaptability to the field environment and improving the accuracy of 3D modeling. Furthermore, the system's built-in communication modes can automatically trigger alarms, reducing human error and better adapting to emergencies; the communication process is optimized by combining satellite imagery data, avoiding communication delays caused by blindly searching for satellites. In summary, this invention effectively solves problems such as redundant and unreliable equipment, and cumbersome communication and rescue in emergency field exploration and 3D construction. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of an integrated system for field exploration, positioning, and modeling provided according to an embodiment of the present invention. Detailed Implementation
[0018] The specific implementation of the present invention will now be described in detail with reference to the accompanying drawings.
[0019] The structure of the field exploration positioning modeling integration system based on radio positioning provided by this invention is as follows: Figure 1As shown, the core structure includes the P100 data control module, the P110 transceiver control module, and the P120 3D modeling module. The data control module uses a high-performance microcontroller (such as GD32F407VIT6) and is connected to the transceiver control module and the 3D modeling module through an SPI interface.
[0020] The P100 data control module is used to initiate and execute positioning tasks, and to provide positioning information to the 3D modeling module.
[0021] The data control module connects to the inertial navigation module, BeiDou module, and interaction module to perform positioning tasks. The inertial navigation module (using an ASC945 chip) and BeiDou module are used for navigation; the interaction module includes waterproof physical buttons and a display screen for user interaction; the BeiDou module uses a BDS / GNSS multi-mode satellite navigation receiver SOC single chip (such as the AT6558R) and connects to the data control module via a UART serial port, not only providing preliminary positioning but also enabling start / stop functionality based on user commands.
[0022] Specifically, the positioning task includes initial positioning and positioning calibration: Initial positioning is achieved through the coordination of the data control module and the inertial navigation module: the data control module is connected to the inertial navigation module via a UART serial port, maintains positioning for a short period in the absence of signal, and acquires initial positioning information; The positioning calibration principle is implemented through the BeiDou module and the transceiver control module. The BeiDou module performs absolute position calibration, and the data control module sends positioning control commands to the transceiver control module. After receiving the return information of the positioning control commands, positioning correction is achieved.
[0023] The P110 transceiver control module responds to positioning control commands, corrects positioning, and generates positioning information to return to the data control center. The transceiver control module uses a high-performance microcontroller (such as GD32F407VIT6) and is connected to the RF module, RDSS module and parameter storage module. When the transceiver control module responds to the positioning control command, it controls the RF module antenna to transmit and receive radio signals and controls the RDSS module to correct the positioning.
[0024] The RDSS module uses a satellite communication chip (such as HC9811) to connect to the transceiver control module via a UART serial port to acquire positioning information and perform positioning correction. Although current satellite communication chips are based on the BeiDou module for positioning, in this invention, the RDSS module does not specify a satellite, but shares an antenna with the radio frequency module to enhance the positioning signal.
[0025] The radio frequency module is connected to the transceiver control module via a UART serial port. It uses an analog intercom device (such as SA818S) to transmit and receive radio signals through an antenna to achieve positioning calibration during emergency communication.
[0026] Based on the above hardware support, the transceiver control module supports multiple communication modes and stores communication mode data and satellite image data in the parameter storage module to support the function of automatically selecting the optimal communication strategy according to the scenario.
[0027] The parameter storage module uses an AT24C256 chip to store communication mode data and satellite imagery data. Communication mode data controls the transceiver module to send radio signals in preset modes, including communication channel, communication content, transmission frequency, and waiting time. Preset modes include emergency calls, scheduled reports, anomaly reports, and equipment malfunction information. Satellite imagery data is used to establish satellite connections during emergency calls and anomaly reports. For example, in "emergency call" mode, it can quickly connect to a specific satellite and send location information, reducing manual configuration delays and effectively improving emergency response efficiency.
[0028] The P120 3D modeling module acquires positioning information sent from the data control module and combines it with map information to realize the real-time construction and updating of the map 3D model.
[0029] The 3D modeling module uses the RK3399 chip and is connected to the image processing module, map storage module, and electronic compass. The electronic compass is fixed in close contact with the camera and is used to obtain directional information indicating the direction the camera is facing. The camera then acquires image information and transmits it to the image processing module.
[0030] The map storage module uses the YMEC8A2TB3A2C3 chip and is connected to the 3D modeling module via eMMC.
[0031] The image processing module uses the MN864788 chip and connects to the 3D modeling module via the SPI interface to achieve image transmission.
[0032] When the 3D modeling module constructs a 3D map model, it obtains image information from the image processing module, direction information from the electronic compass (using an MMC5983 sensor), and existing 3D map model data from the map storage module. After the 3D modeling module combines the direction information with the image information to generate a 3D map model, it stores the 3D map model data in the map storage module to update the 3D map model.
[0033] The integration of cameras, electronic compasses, and 3D modeling modules ensures the accuracy of spatial attitude data, avoids post-assembly stitching errors, and enables "exploration and mapping simultaneously," making it more suitable for dynamic environments.
[0034] The 3D map model can be further used by the inertial navigation module for positioning and navigation.
[0035] In this invention, the core modules—data control module, transceiver control module, and 3D modeling module—along with the radio frequency module, RDSS module, map storage module, and image processing module connected to the core modules, are integrated onto a single circuit board and packaged as a whole. This integrated packaging reduces the redundancy and connection complexity caused by carrying multiple devices in traditional field exploration. Hardware-level integration significantly improves the system's portability and reliability.
[0036] This invention integrates functions into a single system through hardware integration and unified data control and scheduling, effectively reducing equipment redundancy. Furthermore, multi-source data fusion positioning based on radio positioning and inertial navigation positioning significantly reduces the energy consumption requirement for BeiDou positioning, effectively extending availability and reducing the burden on users. Simultaneously, in the absence of external signals, RDSS correction, multi-mode communication, and real-time modeling ensure accurate modeling and personnel positioning, effectively reducing dependence on external signals and greatly improving 3D modeling accuracy and adaptability to field environments. Preset communication modes enable the system to automatically trigger alarms, reducing human error and adapting better to emergencies. The application of satellite imagery data optimizes communication efficiency and avoids delays caused by blindly searching for satellites.
[0037] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the present invention is not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.
Claims
1. A field exploration positioning modeling integration system based on radio positioning, characterized in that, The core modules of the field exploration positioning and modeling integrated system include a data control module, a transceiver control module, and a 3D modeling module. The data control module is used to initiate and execute positioning tasks and provide positioning information to the 3D modeling module. The transceiver control module responds to positioning control commands, corrects positioning, and generates positioning information to return to the data control center. The 3D modeling module acquires positioning information sent from the data control module and combines it with map information to realize the real-time construction and updating of the map 3D model; The core modules are integrated onto a single circuit board and packaged as a whole to form an integrated system for field exploration, positioning, and modeling.
2. The integrated system for field exploration positioning and modeling according to claim 1, characterized in that, The data control module is connected to the inertial navigation module, the Beidou module, and the interaction module to perform positioning tasks; The inertial navigation module and the Beidou module are used for navigation. The interactive module includes waterproof encapsulated physical buttons and a display screen for interacting with the user; The Beidou module is connected to the data control module via a UART serial port to achieve preliminary positioning and start / stop according to user commands.
3. The integrated system for field exploration positioning and modeling according to claim 2, characterized in that, The inertial navigation module, Beidou module, and interaction module are integrated with the core module onto a single circuit board and packaged as a whole.
4. The integrated system for field exploration positioning and modeling according to claim 2, characterized in that, The positioning task includes initial positioning and positioning calibration; The initial positioning is achieved through the coordination of the data control module and the inertial navigation module, including: the data control module is connected to the inertial navigation module through a UART serial port, maintains positioning for a short period of time in a signal-free environment, and acquires initial positioning information; The positioning calibration rules are implemented through the BeiDou module and the transceiver control module; wherein, the BeiDou module performs absolute position calibration, the data control module sends a positioning control command to the transceiver control module, and the positioning correction is achieved after obtaining the return information of the positioning control command.
5. The integrated system for field exploration positioning and modeling according to claim 1, characterized in that, The transceiver control module is connected to the radio frequency module, the RDSS module, and the parameter storage module. When the transceiver control module responds to the positioning control command, it controls the radio frequency module antenna to transmit and receive radio signals and controls the RDSS module to correct the positioning. The parameter storage module is used to store communication mode data and satellite star map data; The RF module, RDSS module, parameter storage module, and core module are integrated onto a single circuit board and packaged as a whole.
6. The integrated system for field exploration positioning and modeling according to claim 5, characterized in that, The RDSS module is connected to the transceiver control module via a UART serial port to acquire positioning information and perform positioning correction. The radio frequency module is connected to the transceiver control module via a UART serial port, and uses an analog intercom device to transmit and receive radio signals through an antenna to achieve positioning calibration during emergency communication. The RDSS module shares an antenna with the RF module to enhance the positioning signal.
7. The integrated system for field exploration positioning and modeling according to claim 5, characterized in that, The communication mode data is used to control the transceiver control module to send radio signals in a preset manner. The communication mode data includes the communication channel, communication content, transmission frequency, and waiting time. The preset manner includes information such as emergency call, timed report, abnormality report, and equipment failure. The satellite imagery data is used for communication with satellites during emergency calls and anomaly reporting.
8. The integrated system for field exploration positioning and modeling according to claim 1, characterized in that, The 3D modeling module is connected to the image processing module, the map storage module, and the electronic compass. The electronic compass is fixed in close contact with the camera and is used to acquire directional information indicating the direction the camera is facing; the camera acquires image information and transmits it to the image processing module. The map storage module and the 3D modeling module are connected via eMMC. The image processing module connects to the 3D modeling module via an SPI interface to achieve image transmission.
9. The integrated system for field exploration positioning and modeling according to claim 8, characterized in that, When the 3D modeling module constructs a 3D map model, it obtains image information from the image processing module, direction information from the electronic compass, and existing 3D map model data from the map storage module. The 3D modeling module combines the direction information to generate a 3D map model from the image information, and then stores the 3D map model data into the map storage module to update the 3D map model.
10. The integrated system for field exploration positioning and modeling according to claim 7, characterized in that, The image processing module, map storage module, and core module are integrated onto a single circuit board and packaged together.