CN103471544B - A kind of high precision displacement deformation monitoring application system based on the Big Dipper - Google Patents

Abstract

The present invention discloses a kind of high precision displacement deformation monitoring application system based on the Big Dipper, comprises satellite navigation system, Displacement-deformation monitoring terminal, Displacement-deformation monitoring center service station; Satellite navigation system comprises Beidou satellite navigation system and GPS navigation system; Displacement-deformation monitoring terminal comprises displacement transducer and GPRS wireless communication module I, and GPRS wireless communication module is connected with displacement transducer, and the data transmitted by displacement transducer send to Displacement-deformation monitoring center service station; Displacement-deformation monitoring center service station comprises data processing centre (DPC), database server and data receiver; Data receiver comprises GPRS wireless communication module II, GPS chip and Big Dipper chip.This application system precision is high, safe reliability is high, reduce dependence to GPS, and the impact of not climate, can round-the-clock automatic measurement, can provide fixed to result (RTK) in real time, and realize the time synchronized of each measuring point.

Description

A kind of high precision displacement deformation monitoring application system based on the Big Dipper

Technical field

The present invention relates to the Displacement-deformation monitoring device of a kind of large scale structure or building, be specifically related to a kind of high precision displacement deformation monitoring application system based on the Big Dipper.

Background technology

Hydraulic engineering, heavy construction, mine, bridge etc. are the foundation structure of national economy, as the important connection of State Grid, transportation network, energy supply, play very important effect in economic construction.Due to normal and improper load result in many hydraulic engineerings, there is distortion in various degree in bridge or mining area, geology or damage, therefore, the health monitoring in hydraulic engineering, bridge, mining area has become the main task of water conservancy, bridge, mineral products normal operation and management phase.Along with the development of national economy, in order to meet day by day increase electric power, resource application and traffic operation demand, need to build increasing water conservancy equipment, large bridge and mineral products.Thus, the very important problem that their safety will become all circles and faces, this all improves renewal, higher requirement to high-precision displacement or deformation monitoring.

The data of hydraulic engineering and bridge state can be used to the design detecting its potential deformation, displacement and damage and help engineering from now on.Gather a large amount of, real-time and accurate operation of engineering projects status data (as the distortion of the geometric configuration of engineering and bridge, hydraulic engineering in the deformation of huge hydraulic pressure, bridge under the load of change real-time or close to real-time dynamic response etc.) for hydraulic engineering and bridge associated mechanisms be quite significant.

Engineering, bridge, geology etc. usually have distortion and the displacement of two kinds of features, as caused distortion or the displacement of long-term (forever) due to foundation settlement, engineering face or the fracture of bridge and the lax of Suo Li etc.; Another kind is because the motion of the earth's crust, wind, temperature, tide, earthquake, artificial and traffic etc. cause distortion or the displacement of short-term.Long-term distortion or displacement are expendable, and the distortion of short-term or displacement can recover when external force disappears, and the distortion of short-term engineering, bridge when external force disappears can return to the state before external force that applies.

At present, traditional monitoring tool has displacement transducer, accelerometer, inclination sensor, laser interferometer, total powerstation, precision level etc., and these methods have certain effect but also there is many weak points.Such as, accelerometer measures comparatively accurately dynamically for high frequency but Large travel range under the displacement caused due to factors such as temperature variation for engineering, bridge, geology and large wind effect is just helpless; Inclination sensor must with additive method with the use of, this just brings the data fusion of different sensors and the problem of time synchronized; The impact of laser interferometer, total powerstation and precision level climate is comparatively serious and sampling rate is also difficult to the requirement reaching kinetic measurement; In addition, following monitoring means all also exists between each measuring point and is difficult to accomplish time synchronization problem, thus brings difficulty to the analysis of the characteristic of successive projects, bridge, geology.

In recent years, although GPS has also carried out some researchs at deformation, displacement monitoring and explored, the autonomy due to GPS has rested in U.S.'s hand, still cannot ensure its safety and efficacy.In China, along with the Big Dipper No. two networking commencements of commercial operation, especially RTK technology, the sampling rate of its receiver generally reaches 10-20HZ, and this makes it be applied to deformation and displacement monitoring becomes possibility.But, just inventor's investigation, the product that the Displacement-deformation based on Big Dipper market also not having comparative maturity is monitored.

Summary of the invention

The object of the invention is to for the deficiencies in the prior art, provide a kind of safe reliability high, reduce to foreign GPS dependence, can the displacement monitoring application system based on the Big Dipper of hi-Fix.The impact of this system not climate, can round-the-clock automatic measurement, can provide fixed to result (RTK) in real time, and can realize the time synchronized of each measuring point easily.

To achieve these goals, present invention employs following technical scheme:

Based on a high precision displacement deformation monitoring application system for the Big Dipper, comprise satellite navigation system, Displacement-deformation monitoring terminal, Displacement-deformation monitoring center service station; Wherein:

Described satellite navigation system comprises Beidou satellite navigation system and GPS navigation system;

Described Displacement-deformation monitoring terminal comprises displacement transducer and GPRS wireless communication module I, and described GPRS wireless communication module is connected with displacement transducer, and the data transmitted by displacement transducer send to Displacement-deformation monitoring center service station;

Described Displacement-deformation monitoring center service station comprises data processing centre (DPC) and the database server be connected with data processing centre (DPC) respectively and data receiver; Described data receiver comprises GPRS wireless communication module II, GPS chip and Big Dipper chip, and the GPRS wireless communication module I of described GPRS wireless communication module II and Displacement-deformation monitoring terminal carries out Mobile data wireless transmission; Described GPS chip receives the satellite information data I that GPS navigation system sends, described Big Dipper chip receives the satellite information data II that Beidou satellite navigation system sends, and described Satellite Data information I and Satellite Data information II includes and exports pseudorange, carrier phase observation data and satellite ephemeris parameter per epoch of observation; After described data processing centre (DPC) receives the satellite information data that GPS chip and Big Dipper chip transmit, carrier phase difference equation is adopted to calculate integer ambiguity parameter, the data analysis process that collects of bound site displacement sensor again, realize hi-Fix, geology Displacement-deformation situation is monitored; The result data obtained after the data that displacement transducer collects by data processing centre (DPC) simultaneously, Satellite Data information I, Satellite Data information II and analyzing and processing is transferred to database server and stores.

As further supplementary notes of the present invention, above-described carrier phase difference equation is that double-differential carrier phase divides observation equation in formula, two survey station two inter-satellites two difference integer ambiguity parameter, two survey station two inter-satellites two difference carrier phase, two survey station two inter-satellites two difference star stop spacing from, ε is measurement noises, and f is signal frequency, and c is the light velocity in vacuum.

In the present invention, the heart adopts carrier phase difference equation to calculate being specially of integer ambiguity parameter in data handling:

First one of them setting in baseline two-end-point is stood as reference, and another end points is as station undetermined.Reference station is also referred to as fixed station, and its three-dimensional coordinate is made given value and occurred in positioning equation; Station undetermined is also referred to as rover station, and its three-dimensional coordinate occurs as unknown number.The absolute figure of the station coordinates undetermined solved is relatively with fixed station.Survey station subscript 1 represents.Satellite subscript i represents.Carrier phase observation equation for survey station 1 satellite I:

${\mathrm{\Φ}}_1^i=N_1^i+\frac{f}{c}{\mathrm{\ρ}}_1^i+f{\mathrm{\δt}}_1+{\mathrm{f\δt}}^i+\frac{f}{c}{\mathrm{\ρ}}_{1\mathrm{trop}}^i+\frac{f}{c}{\mathrm{\ρ}}_{1\mathrm{ion}}^i+\mathrm{\ϵ}$

${\mathrm{\ρ}}_1^i=\sqrt{{(x^i-x_1)}^2+{(y^i-y_1)}^2+{(z^i-z_1)}^2}$

In formula, φ is carrier phase observation data, and N is integer ambiguity, for signal is corrected by troposphere and ionospheric delay; [x ⁱ, y ⁱ, z ⁱ] be the instantaneous geocentric coordinate of satellite I, can obtain by satellite ephemeris text; [x ₁, y ₁, z ₁] be the geocentric coordinate of receiver antenna, be unknown quantity; ε is measurement noises.

Azimuth zeroset divides relative positioning at least to want two survey stations, assuming that settle receiver to observe respectively on 1,2 two survey station simultaneously, then two carrier phase observation equations are respectively:

${\mathrm{\Φ}}_1^i=N_1^i+\frac{f}{c}{\mathrm{\ρ}}_2^i+f{\mathrm{\δt}}_1+{\mathrm{f\δt}}^i+\frac{f}{c}{\mathrm{\ρ}}_{1\mathrm{trop}}^i+\frac{f}{c}{\mathrm{\ρ}}_{1\mathrm{ion}}^i+\mathrm{\ϵ}$

${\mathrm{\Φ}}_2^i=N_2^i+\frac{f}{c}{\mathrm{\ρ}}_2^i+f{\mathrm{\δt}}_2+{\mathrm{f\δt}}^i+\frac{f}{c}{\mathrm{\ρ}}_{2\mathrm{trop}}^i+\frac{f}{c}{\mathrm{\ρ}}_{2\mathrm{ion}}^i+\mathrm{\ϵ}$

In formula, be above designated as satellite number, under be designated as survey station number.For baseline relative positioning, in order to our unconcerned unknown parameter of cancellation.We make calculus of differences to two formulas above:

${\mathrm{\Δ\Φ}}_{12}^i={\mathrm{\ΔN}}_{12}^i+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12}^i+f{\mathrm{\Δ\δt}}_{12}+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^i+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^i+\mathrm{\Δ\ϵ}$

Be the difference that the carrier phase observation data of same satellite i observed by two receivers in formula:

$\mathrm{\Δ}{\mathrm{\Φ}}_{12}^i={\mathrm{\Φ}}_1^i-{\mathrm{\Φ}}_2^i$

The difference of the Phase integer ambiguity of same satellite i observed by two receivers:

$\mathrm{\Δ}{N}_{12}^i=N_1^i-N_2^i$

Two receivers are to the difference of the distance of same satellite i:

$\mathrm{\Δ}{\mathrm{\ρ}}_{12}^i={\mathrm{\ρ}}_1^i-{\mathrm{\ρ}}_2^i$

The difference of the clock correction of two receivers:

$\mathrm{\Δ}{\mathrm{\δt}}_{12}^i={\mathrm{\δt}}_1^i-{\mathrm{\δt}}_2^i$

Two receivers are to the difference of the troposphere time delay of same satellite i:

$\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^i={\mathrm{\ρ}}_{1\mathrm{trop}}^i-{\mathrm{\ρ}}_{2\mathrm{trop}}^i$

Two receivers are to the difference of the ionospheric delay of same satellite i:

$\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^i={\mathrm{\ρ}}_{1\mathrm{ion}}^i-{\mathrm{\ρ}}_{2\mathrm{ion}}^i$

For the satellite outside 36000km, if two survey stations are not far from one another, it is substantially identical that satellite-signal arrives the path that two survey stations pass through.In other words, same satellite-signal arrives the ionosphere of two receivers is substantially identical with tropospheric delay.The observed quantity of two survey station synchronizations is subtracted each other in measuring by versus baseline, and just major part can eliminate the error that ionosphere and tropospheric delay bring, while also eliminates in difference equation Satellite clock correction.The error brought because trajectory accuracy is not high also slackens greatly.

In single poor observation equation, except 3 coordinate components, if observe that n satellite just has n ambiguity of carrier phase unknown number.Integer ambiguity occurs with difference form.But number does not increase.A receiver clock-offsets unknown number is also had also to occur with difference form.

The clock that receiver adopts is general crystal oscillator, and in single difference observation equation, receiver clock-offsets occurs with difference form.Clock correction must be introduced a unknown number and estimated each epoch of observation.In order in data handling receiver clock-offsets be eliminated.For this reason, single eikonal equation formula of two different satellite i, j being observed by synchronization asks poor, obtains two difference observation equation.

Single eikonal equation to satellite i:

${\mathrm{\Δ\Φ}}_{12}^i={\mathrm{\ΔN}}_{12}^i+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12}^i+f{\mathrm{\Δ\δt}}_{12}+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^i+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^i+\mathrm{\Δ\ϵ}$

Single eikonal equation to satellite j:

${\mathrm{\Δ\Φ}}_{12}^j={\mathrm{\ΔN}}_{12}^j+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12}^j+f{\mathrm{\Δ\δt}}_{12}+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^j+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^j+\mathrm{\Δ\ϵ}$

Two formulas make calculus of differences above, the two eikonal equations to satellite i, j:

$\▿{\mathrm{\Δ\Φ}}_{12}^{\mathrm{ij}}={\▿\mathrm{\ΔN}}_{12}^{\mathrm{ij}}+\frac{f}{c}\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12}^{\mathrm{ij}}+\frac{f}{c}\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^{\mathrm{ij}}+\frac{f}{c}\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^{\mathrm{ij}}+\mathrm{\Δ\ϵ}$

Two survey station two inter-satellites two difference carrier phase in formula:

$\▿\mathrm{\Δ}{\mathrm{\Φ}}_{12}^{\mathrm{ij}}={\mathrm{\Δ\Φ}}_{12}^i-{\mathrm{\Δ\Φ}}_{12}^j$

Two survey station two inter-satellites two difference integer ambiguity:

$\▿\mathrm{\Δ}{N}_{12}^{\mathrm{ij}}={\mathrm{\ΔN}}_{12}^i-{\mathrm{\ΔN}}_{12}^j$

Two survey station two inter-satellites two difference star stop spacing from:

$\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12}^{\mathrm{ij}}={\mathrm{\Δ\ρ}}_{12}^i-{\mathrm{\Δ\ρ}}_{12}^j$

Two survey station two inter-satellites two difference troposphere time delay:

$\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^{\mathrm{ij}}={\mathrm{\Δ\ρ}}_{12\mathrm{trop}}^i-{\mathrm{\Δ\ρ}}_{12\mathrm{trop}}^j$

Two survey station two inter-satellites two difference troposphere time delay:

$\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^{\mathrm{ij}}={\mathrm{\Δ\ρ}}_{12\mathrm{ion}}^i-{\mathrm{\Δ\ρ}}_{12\mathrm{ion}}^j$

Two eikonal equation, on the basis of single eikonal equation, remakes calculus of differences between two different satellites.Generally we select satellite that elevation of satellite is the highest as proper star, and other satellites are with the intercropping calculus of differences of proper star.In double-differential carrier phase observation equation, receiver clock-offsets item has been eliminated owing to asking difference between different satellite.Unknown number is except 3 coordinate components, and also have ambiguity of carrier phase, integer ambiguity occurs with Double deference form.If observe t+1 satellite, Double deference integer ambiguity unknown number only has t.

From difference equation analysis above, if rely on current three Big Dipper generation satellites, only obtain two two eikonal equations, in the ignorant situation of integer ambiguity, three coordinate unknown numbers cannot be resolved, if known integer ambiguity, also want known base line distance, two base direction angle unknown numbers could be determined.If the Big Dipper and gps satellite combine, combination satellite number is likely greater than 8 satellites, by long-time observation, obtains abundant observation equation, integer ambiguity unknown number can be decided.

Advantage of the present invention:

1. precision is high, safe reliability is high, reduce dependence to GPS.Present invention employs the Beidou satellite navigation system with independent intellectual property right, not by the restriction of external satellite navigation system, the building health examination of continuous and effective can be carried out, especially under extreme natural environment and political setting, the interruption of monitoring can not be caused; And owing to adopting carrier phase difference equation to calculate integer ambiguity parameter, in order to improve positioning precision further, the present invention has also been combined GPS.

2. function is more comprehensive; In case of emergency, the command control terminal that relevant information can send to data processing centre (DPC) to specify with short message form by Beidou satellite navigation system, so that related personnel can carry out commanding and decision-making timely and effectively, thus the destructions such as the casualties avoiding disaster to cause.

Accompanying drawing explanation

Fig. 1 is the structural framing figure of application system of the present invention.

Fig. 2 is the structural framing figure of displacement deformation monitoring service center in the present invention.

Embodiment

Below in conjunction with accompanying drawing, the present invention is further described.

Embodiment:

As shown in accompanying drawing 1,2, a kind of high precision displacement deformation monitoring application system based on the Big Dipper, comprises satellite navigation system, Displacement-deformation monitoring terminal, Displacement-deformation monitoring center service station; Wherein,

Described satellite navigation system comprises Beidou satellite navigation system and GPS navigation system;

Described Displacement-deformation monitoring terminal comprises displacement transducer and GPRS wireless communication module I, and described GPRS wireless communication module is connected with displacement transducer, and the data transmitted by displacement transducer send to Displacement-deformation monitoring center service station;

Described Displacement-deformation monitoring center service station comprises data processing centre (DPC) and the database server be connected with data processing centre (DPC) respectively and data receiver; Described data receiver comprises GPRS wireless communication module II, GPS chip and Big Dipper chip, and the GPRS wireless communication module I of described GPRS wireless communication module II and Displacement-deformation monitoring terminal carries out Mobile data wireless transmission; Described GPS chip receives the satellite information data I that GPS navigation system sends, described Big Dipper chip receives the satellite information data II that Beidou satellite navigation system sends, and described Satellite Data information I and Satellite Data information II includes and exports pseudorange, carrier phase observation data and satellite ephemeris parameter per epoch of observation; After described data processing centre (DPC) receives the satellite information data that GPS chip and Big Dipper chip transmit, carrier phase difference equation is adopted to calculate integer ambiguity parameter, the data analysis process that collects of bound site displacement sensor again, realize hi-Fix, geology Displacement-deformation situation is monitored; The result data obtained after the data that displacement transducer collects by data processing centre (DPC) simultaneously, Satellite Data information I, Satellite Data information II and analyzing and processing is transferred to database server and stores.

Above-mentioned carrier phase difference equation is that double-differential carrier phase divides observation equation in formula, two survey station two inter-satellites two difference integer ambiguity parameter, two survey station two inter-satellites two difference carrier phase, two survey station two inter-satellites two difference star stop spacing from, ε is measurement noises, and f is signal frequency, and c is the light velocity in vacuum.

Claims (1)

1., based on a high precision displacement deformation monitoring application system for the Big Dipper, comprise satellite navigation system, Displacement-deformation monitoring terminal, Displacement-deformation monitoring center service station; It is characterized in that:

Described satellite navigation system comprises Beidou satellite navigation system and GPS navigation system;

Described Displacement-deformation monitoring terminal comprises displacement transducer and GPRS wireless communication module I, and described GPRS wireless communication module is connected with displacement transducer, and the data transmitted by displacement transducer send to Displacement-deformation monitoring center service station;

Described Displacement-deformation monitoring center service station comprises data processing centre (DPC) and the database server be connected with data processing centre (DPC) respectively and data receiver; Described data receiver comprises GPRS wireless communication module II, GPS chip and Big Dipper chip, and the GPRS wireless communication module I of described GPRS wireless communication module II and Displacement-deformation monitoring terminal carries out Mobile data wireless transmission; Described GPS chip receives the satellite information data I that GPS navigation system sends, described Big Dipper chip receives the satellite information data II that Beidou satellite navigation system sends, and described Satellite Data information I and Satellite Data information II includes and exports pseudorange, carrier phase observation data and satellite ephemeris parameter per epoch of observation; After described data processing centre (DPC) receives the satellite information data that GPS chip and Big Dipper chip transmit, carrier phase difference equation is adopted to calculate integer ambiguity parameter, the data analysis process that collects of bound site displacement sensor again, realize hi-Fix, geology Displacement-deformation situation is monitored; The result data obtained after the data that displacement transducer collects by data processing centre (DPC) simultaneously, Satellite Data information I, Satellite Data information II and analyzing and processing is transferred to database server and stores;

Described carrier phase difference equation is that double-differential carrier phase divides observation equation $\▿{\mathrm{\Δ\Φ}}_{12}^{ij}\left(t\right)=\frac{f}{c}\▿{\mathrm{\Δ\ρ}}_{12}^{ij}\left(t\right)+\▿{\mathrm{\ΔN}}_{12}^{ij}+\mathrm{\ϵ},$ In formula, two survey station two inter-satellites two difference integer ambiguity parameter, two survey station two inter-satellites two difference carrier phase, two survey station two inter-satellites two difference star stop spacing from, ε is measurement noises, and f is signal frequency, and c is the light velocity in vacuum.