CN114236585B - Target motion monitoring method based on Beidou navigation satellite system and storage medium - Google Patents
Target motion monitoring method based on Beidou navigation satellite system and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a target motion monitoring method and a storage medium based on a Beidou navigation satellite system, wherein the method comprises the following steps: calculating the position of each monitoring station corresponding to a rotating shaft of the target to be detected in real time through a Beidou navigation satellite system; calculating the rotation angles of the rotating shaft during the first monitoring time and the second monitoring time according to the positions of the monitoring stations at the preset first monitoring time and second monitoring time; and respectively calculating the rotating direction and the rotating angle of each rotating part during the first monitoring time and the second monitoring time according to the rotating angle of each rotating shaft of each rotating part of the target to be measured during the first monitoring time and the second monitoring time. The invention can realize the monitoring of the complex movement of the target object.
Description
Technical Field
The invention relates to the technical field of target monitoring, in particular to a target motion monitoring method based on a Beidou navigation satellite system and a storage medium.
Background
The Beidou satellite navigation system is a satellite navigation system independently researched and developed in China, and has three functions of quick positioning, short message communication and precise time service.
With the development of the construction and service capability of the Beidou system, related products are widely applied to the fields of transportation, marine fishery, hydrological monitoring, weather forecasting, geographic information mapping, forest fire prevention, communication time system, power scheduling, disaster relief and reduction, emergency search and rescue and the like, gradually permeate into the aspects of human social production and people life, and inject new vitality for global economy and social development.
The method is a main period of urbanization construction and intelligent power grid construction in China from 10 years to 20 years in the future, and the intelligent power grid enters an important stage of comprehensive construction. The application of the Beidou system high-precision positioning technology in the power industry makes a breakthrough, the positioning precision, speed, reliability and stability of the Beidou high-precision position service network are further improved, and the dependence degree of the fields such as the intelligent power grid, intelligent complete equipment, intelligent power distribution and control system on the high-precision time service technology, the short message communication technology and the high-precision positioning technology is greatly increased.
The displacement safety such as foundation settlement and surface deformation of the electric power infrastructure site is a main risk factor of the electric power infrastructure and needs to be monitored in real time. The traditional displacement deformation monitoring means mainly utilizes measuring equipment such as a total station and a level gauge to measure at a selected datum point, but the equipment is easily influenced by the field environment, can only be used for monitoring regularly, has discontinuous monitoring data, is long in process time consumption and huge in workload, cannot meet technical and economic requirements in labor cost and measuring period, and can only monitor simple displacement motion of an object and cannot analyze complex motion of the object.
That is to say, traditional monitoring mode work efficiency is low, and the real-time is not strong, and high accuracy measurement process is complicated, needs a large amount of manpower and material resources, and the cost is huge, and can not monitor the complicated motion of object.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the Beidou navigation satellite system-based target motion monitoring method and the storage medium can realize monitoring of complex motion of a target object.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a target movement monitoring method based on a Beidou navigation satellite system is characterized in that three monitoring stations are correspondingly arranged on each rotating shaft of each rotating part of a target to be detected, the three monitoring stations comprise a first monitoring station, a second monitoring station and a third monitoring station, the first monitoring station is located at the center of the corresponding rotating shaft along the length direction, the positions of the second monitoring station and the third monitoring station meet preset conditions, the preset conditions comprise that the lengths of OA and OB are equal, OA is inverted T, OB is a central line of AOB, wherein OA represents a line segment with the first monitoring station and the second monitoring station as two end points, OB represents a line segment with the first monitoring station and the third monitoring station as two end points, and OC is perpendicular to the rotating shaft;
the method comprises the following steps:
calculating the position of each monitoring station corresponding to a rotating shaft of the target to be detected in real time through a Beidou navigation satellite system;
calculating the rotation angles of the rotating shaft during the first monitoring time and the second monitoring time according to the positions of the monitoring stations at the preset first monitoring time and second monitoring time;
and respectively calculating the rotating direction and the rotating angle of each rotating part during the first monitoring time and the second monitoring time according to the rotating angle of each rotating shaft of each rotating part of the target to be measured during the first monitoring time and the second monitoring time.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method as described above.
The invention has the beneficial effects that: compared with the traditional monitoring method, the invention can provide the integral deformation state of the deformable body; the device is suitable for different monitoring precision requirements, different forms of deformation bodies and different monitoring environments; higher monitoring accuracy can be achieved; complex motion of the object can be analyzed; the system can provide continuous monitoring data and realize real-time automatic monitoring.
Drawings
FIG. 1 is a flow chart of a target motion monitoring method based on a Beidou navigation satellite system of the invention;
FIG. 2 is a flowchart of a method according to a first embodiment of the present invention;
fig. 3 is a schematic rotation diagram of a rotating portion of a target object according to a first embodiment of the present invention.
Detailed Description
In order to explain technical contents, objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1, a target movement monitoring method based on a Beidou navigation satellite system is characterized in that three monitoring stations are correspondingly arranged on each rotating shaft of each rotating part of a target to be monitored, the three monitoring stations comprise a first monitoring station, a second monitoring station and a third monitoring station, the first monitoring station is located at the center of the corresponding rotating shaft along the length direction, the positions of the second monitoring station and the third monitoring station meet preset conditions, the preset conditions comprise that the lengths of OA and OB are equal, OA is greater than OB, OC is a central line of AOB, wherein OA represents a line segment with the first monitoring station and the second monitoring station as two end points, OB represents a line segment with the first monitoring station and the third monitoring station as two end points, and OC is perpendicular to the rotating shaft;
the method comprises the following steps:
calculating the position of each monitoring station corresponding to a rotating shaft of the target to be detected in real time through a Beidou navigation satellite system;
calculating the rotation angles of the rotating shaft during the first monitoring time and the second monitoring time according to the positions of the monitoring stations at the preset first monitoring time and second monitoring time;
and respectively calculating the rotating direction and the rotating angle of each rotating part during the first monitoring time and the second monitoring time according to the rotating angle of each rotating shaft of each rotating part of the target to be measured during the first monitoring time and the second monitoring time.
From the above description, the beneficial effects of the present invention are: the deformation state of the whole deformation body can be provided; the device is suitable for different monitoring precision requirements, different forms of deformation bodies and different monitoring environments; higher monitoring accuracy can be achieved; complex motion of the object can be analyzed; the system can provide continuous monitoring data and realize real-time automatic monitoring.
Further, through the beidou navigation satellite system, the position of each monitoring station that a rotation axis of real-time calculation target corresponds specifically is:
calculating the distance between a monitoring station corresponding to a rotating shaft of the object to be detected and the satellite through pseudo-range code phase ranging or carrier phase ranging;
calculating the position of the satellite according to a navigation message sent by the satellite;
and calculating the position of the monitoring station according to the positions of at least three satellites and the distances between the monitoring station and the at least three satellites.
According to the above description, the position of the monitoring station is acquired in real time based on the Beidou navigation satellite system, so that the accuracy of position acquisition can be improved.
Further, through big dipper navigation satellite system, after calculating the position of each monitoring station that a rotation axis of target to be measured corresponds in real time, further include:
and respectively correcting the positions of the monitoring stations according to the reference positioning differential data broadcasted by the reference station.
Further, the step of respectively correcting the positions of the monitoring stations according to the reference positioning differential data broadcast by the reference station specifically includes:
and respectively correcting the positions of the monitoring stations through differential fusion positioning calculation according to the reference positioning differential data broadcasted by the reference station.
As can be seen from the above description, by performing the differential positioning fusion calculation, more accurate positioning coordinates are obtained.
Further, the calculating, according to the positions of the monitoring stations at the preset first monitoring time and second monitoring time, the rotation angles of the rotating shaft during the first monitoring time and the second monitoring time specifically includes:
calculating a turning angle corresponding to the second monitoring station according to the position of the second monitoring station corresponding to the rotating shaft at a preset first monitoring moment, the position of the second rotating shaft at a preset second monitoring moment and the position of the first monitoring station corresponding to the rotating shaft at the first monitoring moment or the second monitoring moment;
calculating a turning angle corresponding to a third monitoring station according to the position of the third monitoring station corresponding to the rotating shaft at a preset first monitoring moment, the position of the third rotating shaft at a preset second monitoring moment and the position of the first monitoring station corresponding to the rotating shaft at the first monitoring moment or the second monitoring moment;
according to the formula θ = arcos (1-2 (sin) 2 (α/2)+sin 2 (beta/2)) calculating the rotation angle of the rotating shaft during the first monitoring time and the second monitoring time, theta is the rotation angle, alpha is the corresponding turnover angle of the second monitoring station, and beta is the third monitoring stationAnd (5) the corresponding turning angle of the measuring station.
As can be seen from the above description, the rotation angle of the rotating shaft is calculated by analyzing the position change of the monitoring station.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method as described above.
Example one
Referring to fig. 2-3, a first embodiment of the present invention is: a target motion monitoring method is based on a Beidou navigation satellite system, can be applied to electric power infrastructure projects, can provide all-weather real-time monitoring for electric power infrastructure project displacement safety, and is high in precision and strong in pertinence.
In this embodiment, the monitoring system is composed of a control segment and a space segment. The control section consists of a main control station, a monitoring station, a ground antenna, relevant processing resources and the like and is used for monitoring, controlling and updating satellite information of the space section; the monitoring station structure comprises an auxiliary upright post, a high-precision receiver, a measuring antenna and a solar power supply system. A receiver mainly comprising a BDS (BeiDouNavigation Satellite System) is selected as a main device of the monitoring station, so that multi-frequency receiving and positioning error elimination are realized. The space segment includes navigation satellites responsible for the correct broadcast of satellite position, velocity and time by the signal.
For example, assuming that a rotation portion of the target object is in a pie shape, the rotation axis is located on the center line, and fig. 3 shows a state before and after the rotation of the rotation portion, in which a plane where the point O, A, C, B is located represents a state before the rotation (a state at time j is assumed), and planes where the points O, A ', C ', and B ' are located represent a state after the rotation (a state at time k is assumed). A and A ', B and B ', C and C ' are the same point on the rotating part respectively.
Wherein, O is the central point of the rotating part, then the first monitoring station corresponding to the rotating shaft is disposed at point O, point C is located at the edge of the rotating part, and OC is perpendicular to the rotating shaft, point a and point B are also located at the edge of the rotating part, i.e., OA = OB = OC, and OA ≠ OB, while OA and OB are symmetric with respect to OC, i.e., OC is the center line of ═ AOB, then the second monitoring station corresponding to the rotating shaft is disposed at point a, then the third monitoring station corresponding to the rotating shaft is disposed at point B. A coordinate system is established by using OA, OB and the normal direction OD of the plane in which OA, OB and OB are located as X, Y, Z axes.
That is, point A may be considered the location of the second monitoring station at time j, point A 'may be considered the location of the second monitoring station at time k, point B may be considered the location of the third monitoring station at time j, and point B' may be considered the location of the third monitoring station at time k. Since the position of the rotating shaft is substantially unchanged as it rotates, point O can be considered to be the position of the first monitoring station at time j or k.
The rotation angle of the rotating shaft, namely ≤ COC ', is analyzed and calculated by obtaining the positions of points O, A, A ', B and B '.
As shown in fig. 2, the method of the present embodiment includes the following steps:
s1: and calculating the distance between each monitoring station and the satellite in real time through pseudo-range code phase ranging or carrier phase ranging.
Specifically, for any one monitoring station, the signal transmission time t of the satellite is calculated firstly 1 And the signal reception time t of the receiver of the monitoring station 2 . According to different transmission time calculation methods, the method can be divided into pseudo-range code phase ranging and carrier phase ranging.
Wherein, in pseudo-range code phase ranging, t 1 Calculated according to the following first formula 2 I.e. the time at which the signal is received by the receiver of the monitoring station.
The first formula: t is t 1 ＝f 1 (T 0 ，n，N，T c ，p)＝T 0 +(n+p)×N×T c
Wherein, T 0 For reference transmission time, N is total number of complete pseudo range code chips, p is fractional part of pseudo range code, N is period of pseudo range code, T c Is the chip length, f 1 Is t 1 About T 0 、n、N、T c And p. These parameters can all be obtained from the navigation messages transmitted by the satellites.
In carrier phase ranging, t 1 And t 2 Calculated according to the following second formula and third formula, respectively.
The second formula:
the third formula:
where k is a constant, the phase is converted to the time of the corresponding start time,
and &>
These parameters may also be obtained from the navigation message for the respective phase fraction part; n is 1 And n 2 Is an unknown integer and represents a 2 pi radian integer which begins to pass through at any reference moment, because n 1 And n 2 The direct measurement cannot be carried out, the difference between the two is called integer ambiguity, and the solution is iteratively completed by means of a nearby initial value; g 1 Is t 1 In connection with>
And n 1 Function of g 2 Is t 2 In connection with>
And n 2 As a function of (c).
Then, according to the signal transmission time t 1 Signal reception time t of sum 2 And calculating the distance between the monitoring station and the satellite. Specifically, the distance between the monitoring station and the satellite is calculated according to the fourth formula described below.
The fourth formula: d = f 2 (c，t 1 ，t 2 )＝c×(t 2 -t 1 )
Wherein c is the propagation speed of the signal,the speed of vacuum light is adopted when no interference exists; t is t 2 And t 1 The difference is the signal propagation time, f 2 Is about c, t 1 ，t 2 Is measured as a function of (c).
S2: and calculating the position of the satellite according to the navigation message transmitted by the satellite.
And the navigation message is generated and broadcasted according to the correction value of the control section and the satellite running state, and comprises satellite ephemeris data, a time stamp, a correction position, a prediction state, correction time, a distance measurement error, a perturbation parameter, clock drift and the like. At any time j, after the monitoring station observes and receives the navigation message of the satellite i, the position S of the satellite i can be calculated ij ＝(x ij ，y ij ，z ij )。
S3: and calculating the position of each monitoring station in real time.
For any monitoring station, the position of the monitoring station at the time j needing to be solved is assumed to be U j ＝(x uj ，y uj ，z uj ) And S is ij And U j Distance d of j Can be calculated according to the following fifth formula.
The fifth formula:
and the distance d between the monitoring station and the satellite at time j j The method can also be calculated according to a fourth formula, so that a plurality of satellites can be selected, the distances between the satellites and the monitoring station are calculated respectively, then the positions of the satellites are calculated, a nonlinear equation set related to a fifth formula can be established, and the position S of the monitoring point is solved ij 。
In this embodiment, at least three satellites are selected for calculation, that is, the position of the monitoring station is calculated according to the positions of the at least three satellites and the distances between the monitoring station and the at least three satellites.
S4: and respectively correcting the positions of the monitoring stations through differential fusion positioning calculation according to the reference positioning differential data broadcasted by the reference station.
Specifically, for any monitoring station, carrier phase differential positioning calculation is realized according to observation information of the reference station and the monitoring station, and if the reference positioning differential data played by the reference station is epsilon, the position of the monitoring station is corrected according to a sixth formula.
The sixth formula: u shape j ’＝f 3 (U j ，ε)
Wherein, U j ' position of monitoring station at time j after correction, f 3 To relate to U j And e.
And obtaining more accurate positioning coordinates by carrying out differential positioning fusion calculation.
S5: and calculating the rotating angles of a rotating shaft in the first monitoring moment and the second monitoring moment according to the positions of monitoring stations corresponding to the rotating shaft of a rotating part of the target to be detected at the preset first monitoring moment and second monitoring moment.
Specifically, a turning angle corresponding to the second monitoring station is calculated according to the position of the second monitoring station corresponding to the first rotating shaft at a preset first monitoring time, the position of the second rotating shaft at a preset second monitoring time and the position of the first monitoring station corresponding to the first rotating shaft at the first monitoring time or the second monitoring time; meanwhile, according to the position of a third monitoring station corresponding to the rotating shaft at a preset first monitoring moment, the position of the third rotating shaft at a preset second monitoring moment and the position of the first monitoring station corresponding to the rotating shaft at the first monitoring moment or the second monitoring moment, the overturning angle corresponding to the third monitoring station is calculated.
As shown in fig. 3, at this time, the obtained positions of the points O, A, A ', B and B ' are equivalent, vectors OA and OA ' can be calculated according to the position coordinates of the point O, A, A ', and then a formula for calculating an included angle between the two vectors is used to calculate a ═ AOA ', that is, the turning angle α of the second monitoring station during the time j and the time k; similarly, the & lt BOB 'is calculated according to the position coordinates of the point O, B, B', namely the turning angle beta of the third monitoring station in the period of the time j and the time k.
Assuming that the radius of the rotation portion is R (length equivalent to OA, OB, or OC), < BOB "= γ, where B" is located on the rotation axis and BB "# OB", BB "= |2Rsin (β/2) |, BB" = | Rsin γ |, the following seventh formula can be obtained from the cosine theorem.
A seventh formula: cos θ =1-2sin 2 (β/2)/sin 2 γ
Similarly, the following eighth formula can be derived from the triangle Δ AA' a ", where a" is located on the rotation axis and AA ". DELTA.oa".
Eighth formula: cos θ =1-sin 2 (α/2)/sin 2 γ
From the seventh and eighth equations, the following ninth equation can be obtained.
Ninth formula: θ = arccos (1-2 (sin) 2 (α/2)+sin 2 (β/2))
Therefore, according to the ninth formula, the rotation angle θ of the rotating shaft during the first monitoring time and the second monitoring time, i.e., < COC', can be calculated.
Theta represents the turning angle of a certain part of the target object in one direction, and the deflection angles of different parts of the target object in different directions can be monitored by setting different monitoring points, so that the complex motion state of the object can be analyzed.
S6: and respectively calculating the rotating direction and the rotating angle of each rotating part during the first monitoring time and the second monitoring time according to the rotating angle of each rotating shaft of each rotating part of the target to be measured during the first monitoring time and the second monitoring time.
For example, if a certain rotating portion of an object can be deflected to the upper left, it includes a left-right direction rotating shaft and an up-down direction rotating shaft, and the overall rotating direction and rotating angle can be analyzed by calculating the rotating angles of the rotating shafts in both directions.
Further, in another optional embodiment, two monitoring stations are respectively and correspondingly arranged on each rotating shaft of each rotating part of the object to be detected, where the two monitoring stations include a first monitoring station and a second monitoring station, the first monitoring station is arranged at a point O in fig. 3, that is, at a central point of the rotating shaft in the length direction, the second monitoring station is arranged at a point C in fig. 3, that is, on the object, and OC is perpendicular to the rotating shaft. And then calculating the positions of the two monitoring stations in real time, and subsequently calculating & 'in a vector included angle calculation mode directly according to the position coordinates of the points O, C and C', namely the rotation angle theta of the rotation shaft in the period of two monitoring moments.
Compared with the traditional monitoring method, the embodiment can provide the deformation state of the whole deformable body; the device is suitable for different monitoring precision requirements, different forms of deformation bodies and different monitoring environments; higher monitoring accuracy can be achieved; complex motion of an object can be analyzed and monitored through modeling; the system can provide continuous monitoring data and realize real-time automatic monitoring.
Example two
The present embodiment is a computer-readable storage medium corresponding to the above embodiments, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process in the above embodiment of the method for monitoring the target motion based on the beidou navigation satellite system, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here.
In summary, compared with the traditional monitoring method, the target motion monitoring method and the storage medium based on the Beidou navigation satellite system provided by the invention can provide the overall deformation state of the deformable body; the device is suitable for different monitoring precision requirements, different forms of deformation bodies and different monitoring environments; higher monitoring accuracy can be achieved; complex motion of the object can be analyzed and monitored through modeling; the system can provide continuous monitoring data and realize real-time automatic monitoring. The invention can provide more accurate positioning information, and model and analyze the complex motion of the object, thereby providing the deformation state of the whole object.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (5)
1. A target movement monitoring method based on a Beidou navigation satellite system is characterized in that three monitoring stations are correspondingly arranged on each rotating shaft of each rotating part of a target to be detected, the three monitoring stations comprise a first monitoring station, a second monitoring station and a third monitoring station, the first monitoring station is located at the center of the corresponding rotating shaft along the length direction, the positions of the second monitoring station and the third monitoring station meet preset conditions, the preset conditions comprise that the lengths of OA and OB are equal, OA is inverted OB, OC is a central line of inverted AOB, wherein OA represents a line segment with the first monitoring station and the second monitoring station as two end points, OB represents a line segment with the first monitoring station and the third monitoring station as two end points, and OC is perpendicular to the rotating shaft;
the method comprises the following steps:
calculating the position of each monitoring station corresponding to a rotating shaft of the target to be detected in real time through a Beidou navigation satellite system;
calculating the rotation angles of the rotating shaft during the first monitoring time and the second monitoring time according to the positions of the monitoring stations at the preset first monitoring time and second monitoring time;
respectively calculating the rotating direction and the rotating angle of each rotating part during the first monitoring time and the second monitoring time according to the rotating angle of each rotating shaft of each rotating part of the target to be detected during the first monitoring time and the second monitoring time;
the calculating the rotation angle of the rotating shaft during the first monitoring time and the second monitoring time according to the position of each monitoring station at the preset first monitoring time and second monitoring time specifically comprises:
calculating a turning angle corresponding to a second monitoring station according to the position of the second monitoring station corresponding to the rotating shaft at a preset first monitoring moment, the position of the second monitoring station at a preset second monitoring moment and the position of the first monitoring station corresponding to the rotating shaft at the first monitoring moment or the second monitoring moment, wherein the turning angle corresponding to the second monitoring station is the turning angle of the second monitoring station during the first monitoring moment and the second monitoring moment;
calculating a turning angle corresponding to a third monitoring station according to the position of the third monitoring station corresponding to the rotating shaft at a preset first monitoring moment, the position of the third monitoring station at a preset second monitoring moment and the position of the first monitoring station corresponding to the rotating shaft at the first monitoring moment or the second monitoring moment, wherein the turning angle corresponding to the third monitoring station is the turning angle of the third monitoring station during the first monitoring moment and the second monitoring moment;
according to the formula θ = arccos (1-2 (sin) 2 (α/2)+sin 2 (beta/2)) calculating the rotation angle of the rotating shaft during the first monitoring time and the second monitoring time, wherein theta is the rotation angle, alpha is the turning angle corresponding to the second monitoring station, and beta is the turning angle corresponding to the third monitoring station.
2. The Beidou navigation satellite system-based target motion monitoring method according to claim 1, wherein the real-time calculation of the position of each monitoring station corresponding to a rotating shaft of the target to be detected by the Beidou navigation satellite system specifically comprises:
calculating the distance between a monitoring station corresponding to a rotating shaft of the target to be detected and the satellite through pseudo-range code phase ranging or carrier phase ranging;
calculating the position of the satellite according to a navigation message sent by the satellite;
and calculating the position of the monitoring station according to the positions of at least three satellites and the distances between the monitoring station and the at least three satellites.
3. The method for monitoring the movement of the target based on the beidou navigation satellite system of claim 1, wherein after the beidou navigation satellite system calculates the position of each monitoring station corresponding to a rotating shaft of the target to be detected in real time, the method further comprises:
and respectively correcting the positions of the monitoring stations according to the reference positioning differential data broadcasted by the reference station.
4. The Beidou navigation satellite system based target motion monitoring method according to claim 3, wherein the step of respectively correcting the positions of the monitoring stations according to the reference positioning differential data broadcast by the reference stations specifically comprises:
and respectively correcting the positions of the monitoring stations through differential fusion positioning calculation according to the reference positioning differential data broadcasted by the reference station.
5. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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