Positioning method of air-ground cooperative geological exploration system

Abstract

The application discloses a positioning method of an air-ground cooperative geological exploration system and relates to the technical field of robot communication and navigation, and comprises the following steps: monitoring the satellite positioning signal quality and the communication link state of a ground mobile carrier in real time; when the satellite positioning signal quality is lower than a preset threshold, triggering an air carrier to fly above the ground mobile carrier and establishing a positioning enhancement link for relaying the satellite positioning signal; if the ground mobile carrier restores the autonomous positioning capability through the positioning enhancement link, adjusting the flight state of the air carrier; if the ground mobile carrier still cannot restore the autonomous positioning capability through the positioning enhancement link and the communication link is invalid, the ground mobile carrier autonomously activates an independent beacon module and periodically sends a rescue probe signal to trigger air-ground cooperative search and rescue. The application gives priority to guaranteeing the positioning safety of the ground mobile carrier, secondly guarantees the communication link, and finally supports artificial rescue positioning.

Description

Technical Field

[0001] This invention relates to the field of robot communication and navigation technology, specifically a positioning method for an air-ground collaborative geological exploration system. Background Technology

[0002] Traditional geological exploration relies on manual field observation, sampling, and recording. However, the areas requiring geological exploration are mostly located in high-altitude, frigid, and oxygen-deficient zones with sharply dissected terrain and extremely harsh natural environments. Therefore, manual exploration faces severe challenges. For example, geologists are constantly exposed to threats from avalanches, landslides, extreme weather, and wild animals, and their personal safety cannot be effectively guaranteed. At the same time, due to limitations in physical strength and transportation conditions, the effective working time per day is short and the coverage area is small, making it difficult to meet the needs of large-scale exploration. In addition, many high-risk areas, such as steep cliffs and deeply dissected valleys, are inaccessible to personnel, resulting in the loss of key geological information and the formation of mineral exploration blind spots.

[0003] Therefore, field robotic exploration systems are often used to replace manual exploration work, ensuring the safety of geological personnel and improving exploration efficiency. However, in actual operation, existing exploration systems still have many problems: complex terrain, such as deeply incised valleys and dense vegetation, can easily block satellite signals, causing ground-based mobile vehicles to lose location information and become lost, unable to return autonomously; existing geological exploration technologies focus more on the fusion and modeling of geological data, neglecting the navigation and survivability of the data acquisition platform itself; in high mountain and deep valley environments, ground communication links often break down earlier than satellite signals, making it impossible for robots to send distress signals through conventional links; when positioning and communication are completely lost, equipment can easily be lost. Summary of the Invention

[0004] The purpose of this invention is to provide a positioning method for an air-ground collaborative geological exploration system, prioritizing the positioning safety of ground mobile carriers, ensuring communication links, and ultimately supporting positioning for manual rescue.

[0005] To achieve the above objectives, the specific solution adopted by the present invention is as follows: a positioning method for an air-ground collaborative geological exploration system, comprising the following steps: Real-time monitoring of satellite positioning signal quality and communication link status of ground mobile carriers; When the quality of the satellite positioning signal is lower than a preset threshold, the airborne vehicle is triggered to fly above the ground mobile vehicle and establish a positioning enhancement link for relaying the satellite positioning signal. If the ground-based mobile vehicle regains its autonomous positioning capability through the positioning enhancement link, then the flight status of the airborne vehicle will be adjusted. If the ground mobile vehicle fails to restore its autonomous positioning capability through the positioning enhancement link and the communication link fails, the ground mobile vehicle will autonomously activate the independent beacon module and periodically send rescue detection signals to trigger air-ground coordinated search and rescue.

[0006] As an optimization scheme for the positioning method of the aforementioned air-ground collaborative geological exploration system: the satellite positioning signal quality includes at least one of the following: satellite visibility quantity, position accuracy factor, and positioning signal strength.

[0007] As another optimization scheme for the positioning method of the above-mentioned air-ground collaborative geological exploration system: when the satellite positioning signal quality is lower than a preset threshold, the process of triggering the airborne carrier to fly above the ground mobile carrier and establishing a positioning enhancement link for relaying satellite positioning signals is as follows: the airborne carrier transmits the satellite signals received by the airborne carrier to the ground mobile carrier through relay positioning differential data, or the airborne carrier collects images of the environment around the ground mobile carrier and transmits the image data to the ground mobile carrier.

[0008] As another optimization scheme for the positioning method of the above-mentioned air-ground collaborative geological exploration system: if the ground mobile carrier recovers its autonomous positioning capability through the positioning enhancement link, the flight status of the air carrier is adjusted. The adjustment process is as follows: when the ground mobile carrier is in a valley, the air carrier flies to the top of the valley mouth to receive satellite signals and lowers its altitude to a preset altitude range above the ground mobile carrier; when the ground mobile carrier is in open terrain, the air carrier rises to a preset altitude range.

[0009] As an alternative optimization of the positioning method of the aforementioned air-ground collaborative geological exploration system, the air-ground collaborative search and rescue process involves dispatching an airborne vehicle to the area of ​​the last known location of the ground mobile vehicle, and the airborne vehicle scanning rescue detection signals and calculating the relative azimuth of the ground mobile vehicle in real time based on the received rescue detection signals; the airborne vehicle adjusts its flight path according to the relative azimuth to approach the ground mobile vehicle.

[0010] As an alternative optimization of the positioning method of the aforementioned air-ground collaborative geological exploration system, the rescue detection signal includes at least one of the following: equipment identification, last known location information of the ground mobile carrier, and wireless signal.

[0011] As an alternative optimization of the positioning method for the aforementioned air-ground collaborative geological exploration system, the wireless signal is a 433MHz radio frequency signal or a broadcast frame with specific encoding.

[0012] As an alternative optimization of the positioning method of the aforementioned air-ground collaborative geological exploration system, the independent beacon module includes an independent power supply circuit and an independent microcontroller.

[0013] As an alternative optimization of the positioning method for the aforementioned air-ground collaborative geological exploration system: before the ground mobile vehicle autonomously activates the independent beacon module, it switches to either satellite communication or long-distance radio module; if the switching fails, the ground mobile vehicle autonomously activates the independent beacon module.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a positioning method for an air-ground collaborative geological exploration system, which monitors the positioning signal quality and communication link status in real time. When the positioning signal quality is lower than a preset threshold, the airborne carrier establishes a positioning enhancement link to prevent the ground mobile carrier from getting lost. If the positioning enhancement link still cannot restore the autonomous positioning capability of the ground mobile carrier, an independent beacon module is activated to periodically send rescue detection signals and wait for manual rescue positioning, ensuring that the ground mobile carrier can still be found after it crashes. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the present invention. Detailed Implementation

[0016] The technical solution of the present invention will be further described in detail below with reference to specific embodiments. Parts not described or disclosed in detail in the following embodiments of the present invention should be understood as prior art known or should be known by those skilled in the art.

[0017] Example A positioning method for an air-ground collaborative geological exploration system includes the following steps: S1. In field geological exploration operations, the satellite positioning signal quality and communication link status of the ground mobile vehicle are monitored in real time. This monitoring can be performed locally by the ground mobile vehicle or remotely by the base station. In this embodiment, the ground mobile vehicle is a robot.

[0018] S2, this embodiment provides multiple mechanisms to trigger the establishment of a positioning enhancement link by an airborne vehicle. Satellite positioning signal quality is the highest priority condition for triggering airborne vehicle intervention. Satellite positioning signal quality includes at least one of the following: visible satellite count, position accuracy factor, and positioning signal strength. In this embodiment, satellite positioning signal quality includes visible satellite count, position accuracy factor, and positioning signal strength. When the satellite positioning signal quality is lower than a preset threshold, a Level 1 emergency state is entered, triggering the airborne vehicle to fly above the ground mobile vehicle and establish a positioning enhancement link for relaying satellite positioning signals. Specifically, when the visible satellite count is less than 4, the position accuracy factor is greater than 5, and the positioning signal strength is lower than the threshold, the airborne vehicle is immediately controlled to fly above the ground mobile vehicle. In this embodiment, the airborne vehicle is a drone. The airborne vehicle transmits the satellite signals received by the airborne vehicle to the ground mobile vehicle via relay positioning differential data (relay RTK differential data), or it collects images of the surrounding environment of the ground mobile vehicle and transmits the image data to the ground mobile vehicle, prioritizing the navigation safety of the ground mobile vehicle and preventing it from getting lost.

[0019] S3. If the ground mobile vehicle regains its autonomous positioning capability through the positioning enhancement link, the flight status of the airborne vehicle is adjusted. The adjustment process is as follows: When the ground mobile vehicle is in a valley, the airborne vehicle flies to the valley entrance to receive satellite signals and lowers its altitude to 50-100 meters above the ground mobile vehicle. It then transmits the RTK differential correction data to the ground mobile vehicle at the bottom of the valley via a low-latency link to reduce signal attenuation and achieve positioning enhancement. When the ground mobile vehicle is in open terrain, the airborne vehicle ascends to 200-300 meters to expand the communication and positioning coverage. In this embodiment, when the airborne vehicle is equipped with a magnetic sensor, a GNSS dual-antenna direction finding method is used instead of a magnetic compass, or real-time compensation for magnetic field interference is provided to ensure the flight safety of the airborne vehicle. Furthermore, the orthophotos and digital elevation model (DEM) data collected by the airborne vehicle are integrated into the ground navigation map of the ground mobile vehicle, updating the global cost map and planning a better obstacle avoidance path for the ground mobile vehicle, achieving beyond-line-of-sight terrain perception. If the airborne vehicle's battery level is too low during the entire operation, it will automatically return to recharge or replace the battery to avoid crashing due to depletion of power.

[0020] S4. If the ground mobile vehicle fails to regain autonomous positioning capability via the positioning enhancement link, and the communication link fails or the heartbeat signal times out, the ground mobile vehicle will autonomously activate an independent beacon module and periodically send rescue detection signals to trigger air-ground coordinated search and rescue. Specifically, when the ground mobile vehicle encounters a more serious communication failure, a tiered emergency response will be implemented. Specifically, if the communication link is interrupted but positioning is still normal, it is determined to be a Level 2 emergency state. At this time, the airborne vehicle will not be blindly dispatched, but an attempt will be made to switch to backup links such as satellite communication or long-distance radio modules to restore data transmission. Local operation data will be temporarily stored in the ground mobile vehicle. If the switch fails, positioning and communication are completely interrupted, or the heartbeat signal times out for a long time, it will enter a Level 3 emergency state. At this time, the ground mobile vehicle will not attempt to return autonomously without positioning, but will autonomously activate an independent beacon module physically isolated from the main system after a delay. This module has an independent power supply circuit and an independent microcontroller, and has a built-in independent watchdog timer to monitor the main system's heartbeat, and can still work normally after the main system fails. Once activated, it periodically sends rescue detection signals containing device identification, the last known location information of the ground mobile carrier, and wireless signals, such as 433MHz radio frequency signals or specially coded broadcast frames, in preparation for human rescue.

[0021] Building upon this foundation, the system can further activate an air-ground collaborative search and rescue mode to enhance search and rescue efficiency. Once the independent beacon module of the ground mobile vehicle is activated and transmits a wireless positioning signal, the ground control station will dispatch a drone equipped with a signal receiving and direction-finding module to scan the area of ​​the last known location. Based on the received signal strength RSSI or angle of arrival AOA, the drone calculates the relative position of the ground mobile vehicle in real time and transmits the calculated precise position back to the ground station via a relay link, or automatically adjusts its flight path to approach the signal source, thereby narrowing the search area from kilometers to meters and achieving rapid and accurate positioning.

[0022] This invention achieves enhanced positioning and link restoration for ground-based mobile carriers. It mainly establishes enhanced positioning signal links, switches communication links, and activates beacon modules through aerial carriers, ensuring the navigation survivability of the exploration system itself. This provides a foundation for the effective collection of geological data, thereby enabling accurate marking of geological identification results, precise navigation of sampling points, and unification of geological target area space. As a result, it forms a complete linkage with other modules of the entire intelligent geological exploration system.

[0023] In another embodiment, if the communication link signal strength (RSSI) is below a threshold, but the heartbeat signal of the ground mobile carrier is normal and the satellite positioning signal quality is normal, the aerial carrier is not triggered, the robot continues to operate autonomously locally, and the data is temporarily stored locally to save the energy consumption of the aerial carrier and avoid unnecessary relay scheduling.

[0024] In another optional embodiment of the invention, the aerial vehicle (drone) may also be equipped with an independent beacon module. When the aerial vehicle experiences loss of control, a low battery emergency landing, or a communication interruption, its independent beacon module can autonomously activate and send a rescue signal, facilitating the recovery of the aerial vehicle by ground personnel. However, the core protection of this invention lies in the aerial vehicle's ability to locate and rescue ground-based mobile vehicles.

[0025] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily 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 invention. Therefore, the invention is not 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 positioning method for an air-ground collaborative geological exploration system, characterized in that, The process includes the following steps: real-time monitoring of the satellite positioning signal quality and communication link status of the ground mobile vehicle; when the satellite positioning signal quality is lower than a preset threshold, triggering the airborne vehicle to fly above the ground mobile vehicle and establish a positioning enhancement link for relaying satellite positioning signals; if the ground mobile vehicle recovers its autonomous positioning capability through the positioning enhancement link, then the flight status of the airborne vehicle is adjusted; if the ground mobile vehicle still fails to recover its autonomous positioning capability through the positioning enhancement link, and the communication link fails or the heartbeat signal times out, then the ground mobile vehicle autonomously activates an independent beacon module and periodically sends rescue detection signals to trigger air-ground coordinated search and rescue.

2. The positioning method of an air-ground collaborative geological exploration system as described in claim 1, characterized in that: The satellite positioning signal quality includes at least one of the following: satellite visibility count, position accuracy factor, and positioning signal strength.

3. The positioning method of an air-ground collaborative geological exploration system as described in claim 1, characterized in that: When the quality of the satellite positioning signal is lower than a preset threshold, the process of triggering the airborne carrier to fly above the ground mobile carrier and establish a positioning enhancement link for relaying satellite positioning signals is as follows: the airborne carrier transmits the satellite signals received by the airborne carrier to the ground mobile carrier through relay positioning differential data, or the airborne carrier collects images of the environment around the ground mobile carrier and transmits the image data to the ground mobile carrier.

4. The positioning method of an air-ground collaborative geological exploration system as described in claim 1, characterized in that: If the ground mobile carrier regains its autonomous positioning capability through the positioning enhancement link, the flight status of the airborne carrier will be adjusted. The adjustment process is as follows: when the ground mobile carrier is in a valley, the airborne carrier flies to the top of the valley entrance to receive satellite signals and lowers its altitude to a preset altitude range above the ground mobile carrier; when the ground mobile carrier is in open terrain, the airborne carrier rises to a preset altitude range.

5. The positioning method of an air-ground collaborative geological exploration system as described in claim 1, characterized in that: The air-ground coordinated search and rescue process involves dispatching an airborne vehicle to the area of ​​the last known location of the ground mobile vehicle, while the airborne vehicle scans for rescue detection signals and calculates the relative position of the ground mobile vehicle in real time based on the received rescue detection signals; the airborne vehicle then adjusts its flight path according to the relative position to approach the ground mobile vehicle.

6. The positioning method of an air-ground collaborative geological exploration system as described in claim 5, characterized in that: Rescue detection signals include at least one of the following: equipment identification, last known location information of ground mobile vehicles, and wireless signals.

7. The positioning method of an air-ground collaborative geological exploration system as described in claim 6, characterized in that: The wireless signal is a low-frequency radio frequency signal or a broadcast frame with specific encoding.

8. The positioning method of an air-ground collaborative geological exploration system as described in claim 1, characterized in that: The independent beacon module includes an independent power supply circuit and an independent microcontroller.

9. The positioning method of an air-ground collaborative geological exploration system as described in claim 1, characterized in that: Before the ground mobile vehicle autonomously activates the independent beacon module, it switches to either satellite communication or long-range radio module; if the switching fails, the ground mobile vehicle autonomously activates the independent beacon module.

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