CN104913743A - Electric power iron tower deformation monitoring method based on inertia measurement - Google Patents

Electric power iron tower deformation monitoring method based on inertia measurement Download PDF

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Publication number
CN104913743A
CN104913743A CN201410683311.2A CN201410683311A CN104913743A CN 104913743 A CN104913743 A CN 104913743A CN 201410683311 A CN201410683311 A CN 201410683311A CN 104913743 A CN104913743 A CN 104913743A
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rho
satellite
formula
moment
monitoring
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孙琳珂
上官朝晖
王海峰
刘佳
曾昭智
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HUBEI CENTRAL CHINA TECHNOLOGY DEVELOPMENT OF ELECTRIC POWER Co Ltd
State Grid Corp of China SGCC
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HUBEI CENTRAL CHINA TECHNOLOGY DEVELOPMENT OF ELECTRIC POWER Co Ltd
State Grid Corp of China SGCC
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Priority to CN201410683311.2A priority Critical patent/CN104913743A/en
Publication of CN104913743A publication Critical patent/CN104913743A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups
    • G01B21/32Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups for measuring the deformation in a solid
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/48Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

The invention belongs to the electric power equipment maintenance and monitoring technology field and relates to an electric power iron tower deformation monitoring method based on inertia measurement. In the method, a Beidou navigation positioning real-time kinematic (Real-time kinematic RTK) solving method is used to realize kinematic displacement monitoring. A static state solving method is used to realize static state displacement monitoring. An inclination angle sensor is used to realize iron tower posture monitoring. An acceleration sensor is used to realize iron-tower horizontal and vertical relative displacement monitoring. A meteorological sensor is used to realize iron tower windage yaw and icing monitoring. By using the above monitoring method, multiple-dimension combination application is realized; through front end software early warning and center software analysis and processing, intelligent monitoring is realized.

Description

Based on the electric power tower deformation monitoring method of inertia measurement
Technical field
The invention belongs to power equipment to safeguard and monitoring technical field, relate to a kind of electric power tower deformation monitoring method based on inertia measurement.The data that the present invention utilizes Big Dipper II to obtain based on inertial measurement method for navigational system, in conjunction with dynamic and static algorithm, obtain power tower level and vertical relative displacement, thus improve global position system to the location of power tower and measuring accuracy.
Background technology
The existing DEFORMATION MONITORING SYSTEM based on GPS navigation positioning system, general adopt RTK to resolve to resolve algorithm realization with static state accurately locate, adopt obliquity sensor to realize attitude monitoring.Prior art can only realize the static displacement monitoring of outside one-dimensional degree, can not provide steel tower deformation information continuously, comprehensively analyze, there is larger erroneous judgement and misinformation probability to burst distortion such as windage yaw.Adopt single-measurement mode, can not react steel tower self-deformation state, when global position system signal to noise ratio (S/N ratio) is low, precision significantly reduces.
Summary of the invention
The object of the invention is to the above-mentioned deficiency overcoming prior art, the present invention utilizes the advantage of the Big Dipper II generation navigational system location survey and inertia measurement, continuously for monitoring system provides the self-deformation information of steel tower, electric power tower distortion can be monitored by inertia measurement.Meanwhile, adopt array mode to measure, realize global position system or the complementation of inertia measurement precision, improve overall measurement accuracy.
The technical solution adopted for the present invention to solve the technical problems is: adopt Big Dipper II for navigational system (BDStar navigation system/supplementary inertial guidance, be called for short BD/INS) integrated navigation technology, utilize Big Dipper II for navigational system real time positioning data, use in real time dynamically (Real-time kinematic is called for short RTK) calculation method to realize dynamic displacement monitoring; Its static calculation method is utilized to realize static displacement monitoring; Its obliquity sensor is utilized to realize steel tower attitude monitoring; Its acceleration transducer is utilized to realize iron tower horizontal, vertically opposite displacement monitoring; Its meteorological sensor is utilized to realize steel tower windage yaw, icing monitoring.
The described electric power tower deformation monitoring method based on inertia measurement, utilize Big Dipper II to realize dynamic displacement monitoring for Online Integer method real-time in navigational system, specific implementation is as follows:
When receiving function to satellite-signal Continuous Tracking, then each complete carrier phase actual value by following a few part composition
In formula, N 0it is the complete cycle number that carrier phase postpones on travel path; from t 0to t ithe observed reading of moment carrier phase measurement, in units of all numbers; from initial time t 0to observation moment t ibetween carrier phase change complete cycle number, it is from t 0to t ithe complete cycle number of the difference frequency signal added up one by one with counter in the time; be then the part of difference frequency signal less than a complete cycle, it is at t ian instantaneous flow measured value in moment;
Carrier phase actual value also following formula can be expressed as
In formula, t a = τ a - V t a ; t b = τ b - V t b = τ a + ( τ b - τ a ) - V t b . Wherein, t ait is satellite clock reading; τ ait is the etalon time that signal is launched; the clock correction of satellite; τ bit is the etalon time arriving receiver; the clock correction of receiver; it is the phase place of the reference signal that receiver produces; it is the carrier phase of satellite launch;
For the good oscillator of stability, actual phase and the relation between frequency f can be expressed as following formula
In formula, f is signal frequency; Δ t is the small time interval;
By formula t a, t bexpression formula substitutes into the expression formula (2) of carrier phase actual value, and considers the relation between formula phase place and frequency, can obtain following formula
In formula, τ b - τ a = 1 c ( ρ - δ ρ ion - δ ρ trop ) . Wherein, τ bait is the actual propagation time from satellite to receiver; ρ is the actual range of satellite to receiver; ρ ionit is ionospheric refraction correction; δ ρ tropit is tropospheric refraction correction;
So, can by carrier phase actual value following formula can be expressed as
Above formula is substituted into formula (1), obtain the basic observation equation of carrier phase, i.e. measured value equation
By above formula equal sign both sides with being multiplied by λ=c/f, wherein c is propagation velocity of electromagnetic wave, then have
ρ ~ = ρ - δ ρ ion - δ ρ trop + cv τa - cv τb - λ N 0 - - - ( 7 )
In formula, ρ is τ athe satellite position (x, y, z) in moment and τ bactual range between the receiver location (X, Y, Z) in moment, namely ρ = [ ( x - X ) 2 + ( y - Y ) 2 + ( z - Z ) 2 ] 1 2 ;
Introduce following relational expression
ρ 0 = [ ( x - X 0 ) 2 + ( y - Y 0 ) 2 + ( z - Z 0 ) 2 ] 1 2 X = X 0 + dX Y = Y 0 + dY Z = Z 0 + dZ - - - ( 8 )
By the approximate coordinates (X of ρ at survey station 0, Y 0, Z 0) obtain by Taylor series expansion
ρ = ρ 0 + ( ∂ ρ ∂ X ) 0 dX + ( ∂ ρ ∂ Y ) 0 dY + ( ∂ ρ ∂ Z ) 0 dZ = ρ 0 + X 0 - x ρ 0 dX + Y 0 - y ρ 0 dY + Z 0 - z ρ 0 dZ - - - ( 9 )
Above formula is substituted into (6) and obtains the basic observation equation of linearizing carrier phase measurement:
Above formula equal sign left end is every is unknown several, and wherein (X, Y, Z) is τ athe co-ordinates of satellite in moment; Above formula equal sign right-hand member is every can be calculated according to satellite message or Doppler's observational data, thus realizes dynamic displacement monitoring.
The described electric power tower deformation monitoring method based on inertia measurement, utilize Big Dipper II to realize static displacement monitoring for calculation method static in navigational system, specific implementation is as follows:
If survey station i, j observe n satellite simultaneously, can write out the poor observation equation of list of satellite p and satellite q, in formula, Δ N is that the complete cycle number that carrier phase postpones on travel path is poor;
In formula, be respectively t 1the poor observed reading of moment i, j list of two websites to satellite q, p; for t 1moment i, j two websites are to the range difference of satellite q; for t 1the clock correction of the receiver of moment i, j two websites; the complete cycle postponed on travel path for carrier phase is poor; for t 1moment ionospheric refraction correction; for t 1moment tropospheric refraction correction;
After the poor observation equation of list of satellite q and satellite p being asked further difference, can obtain
Make in formula (13)
Then formula (14) can be reduced to
for t 1time be engraved in receiver and inter-satellite ask second difference after the double difference observation obtained, i.e. static displacement.Now, the relative clock correction of receiver in two poor observation equation also cancellation, reduces the impact of satellite ephemeris error greatly;
Due to very little the distance relative satellite between two survey stations, can think that troposphere is suitable on the impact of collection signal with ionosphere, can eliminate after two difference formula (15) is reduced to
Carry out linearization process to the observation equation (16) after simplifying, lienarized equation is
ρ i p ( t 1 ) = ( X p - X i ) 2 + ( Y p - Y i ) 2 + ( Z p - Z i ) 2 - - - ( 17 )
If the approximate coordinates of survey station is (X 0, Y 0, Z 0), by above formula at (X 0, Y 0, Z 0) can to obtain linearizing observation equation after place's Taylor series expansion as follows:
ρ ~ = ρ i 0 - X i - X 0 ρ i 0 dX - Y i - Y 0 ρ i 0 dY - Z i - Z 0 ρ i 0 dZ - - - ( 18 )
With l i = X i - X 0 ρ i 0 , m i = Y i - Y 0 ρ i 0 , n i = Z i - Z 0 ρ i 0 , The coefficient of variable is represented in substituted (18).
Can obtain thus, in static relative positioning, when the coordinate of hypothesis survey station 1 is known, so the distance of it and satellite is also known; The coordinate of survey station 2 can represent by an approximate coordinates value, then two eikonal equation, and namely the static lower displacement occurred can be expressed as:
In formula, for constant term, be expressed as L ij pq = ρ j q - ρ i q - ρ j p + ρ i p ; for j moment q satellite is to receiver distance, by that analogy, for i moment q satellite is to receiver distance, for j moment p satellite is to receiver distance, for i moment p satellite is to receiver distance; The approximate coordinates at station, p, q both sides all uses the approximate coordinates in observation file; Through compensating computation, just in the hope of approximate coordinates difference dX, dY, dZ of survey station, thus static displacement monitoring can be realized.
The present invention has following beneficial effect:
The invention provides a kind of power tower deformation monitoring method based on inertia measurement, the method is had complementary advantages for the carrying out of location survey and inertia measurement in navigational system to Big Dipper II, steel tower self-deformation information is provided continuously by inertia measurement, continuous coverage is carried out to burst distortion such as windage yaw, the data of synthetic study and discriminatory analysis are provided.Employing array mode is measured, and realizes between global position system and inertia measurement precision complementary, improves overall measurement accuracy.
Accompanying drawing explanation
Fig. 1 is base station, monitoring station and satellite three position relationship schematic diagram.Wherein,
1 is sun-generated electric power; 2 is monitoring station; 3 is Surveillance center; 4 is Terminal Server Client; 5 is Terminal Server Client; 7 is base station.
Fig. 2 is based on inertia measurement electric power tower deformation monitoring method implementing procedure figure.
Embodiment
Below in conjunction with embodiment, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
Satellite, position relationship between base station and measuring station are as shown in Figure 1.In figure, the position from monitoring station 1kM built in by base station, and monitoring equipment is arranged on steel tower cross bar, and p (t1) represents the position of satellite S1 in the t1 moment, and q (t1) etc. also has similar meaning.After device start runs, satellite positioning module, by receiving the longitude and latitude of big-dipper satellite p, q in t1, t2 moment to monitoring station, base station, sends to Terminal Server Client.Client-side program utilizes dynamic and static calculation method to calculate in this moment monitoring station relative to the side-play amount of base station respectively, and comprehensive inertia measurement data in this moment, analyze the attitude of steel tower within this time period.By long-term observation, collection, measurement, the comprehensive contingent deformation of analyses and prediction steel tower.The concrete implementing procedure of method designed by the present invention as shown in Figure 2.Flow process shown in composition graphs 2, sets forth theory deduction of the present invention and implementation process below in detail.
First, utilize Big Dipper II to realize dynamic displacement monitoring for Online Integer method real-time in navigational system, specific implementation is as follows:
When receiving function to satellite-signal Continuous Tracking, then each complete carrier phase actual value by following a few part composition
In formula, N 0it is the complete cycle number that carrier phase postpones on travel path; from t 0to t ithe observed reading of moment carrier phase measurement, in units of all numbers; from initial time t 0to observation moment t ibetween carrier phase change complete cycle number, it is from t 0to t ithe complete cycle number of the difference frequency signal added up one by one with counter in the time; be then the part of difference frequency signal less than a complete cycle, it is at t ian instantaneous flow measured value in moment.
Carrier phase actual value also following formula can be expressed as
In formula, t a = τ a - V t a ; t b = τ b - V t b = τ a + ( τ b - τ a ) - V t b . Wherein, t ait is satellite clock reading; τ ait is the etalon time that signal is launched; the clock correction of satellite; τ bit is the etalon time arriving receiver; the clock correction of receiver; it is the phase place of the reference signal that receiver produces; it is the carrier phase of satellite launch.
For the good oscillator of stability, actual phase and the relation between frequency f can be expressed as following formula
In formula, f is signal frequency; Δ t is the small time interval.
By formula t a, t bexpression formula substitutes into the expression formula (2) of carrier phase actual value, and considers the relation between formula phase place and frequency, can obtain following formula
In formula, τ b - τ a = 1 c ( ρ - δ ρ ion - δ ρ trop ) . Wherein, τ bait is the actual propagation time from satellite to receiver; ρ is the actual range of satellite to receiver; ρ ionit is ionospheric refraction correction; δ ρ tropit is tropospheric refraction correction.
So, can by carrier phase actual value following formula can be expressed as
Above formula is substituted into formula (1), obtain the basic observation equation of carrier phase, i.e. measured value equation
By above formula equal sign both sides with being multiplied by λ=c/f, wherein c is propagation velocity of electromagnetic wave, then have
ρ ~ = ρ - δ ρ ion - δ ρ trop + cv τa - cv τb - λ N 0 - - - ( 7 )
In formula, ρ is τ athe satellite position (x, y, z) in moment and τ bactual range between the receiver location (X, Y, Z) in moment, namely ρ = [ ( x - X ) 2 + ( y - Y ) 2 + ( z - Z ) 2 ] 1 2 .
Introduce following relational expression
ρ 0 = [ ( x - X 0 ) 2 + ( y - Y 0 ) 2 + ( z - Z 0 ) 2 ] 1 2 X = X 0 + dX Y = Y 0 + dY Z = Z 0 + dZ - - - ( 8 )
By the approximate coordinates (X of ρ at survey station 0, Y 0, Z 0) obtain by Taylor series expansion
ρ = ρ 0 + ( ∂ ρ ∂ X ) 0 dX + ( ∂ ρ ∂ Y ) 0 dY + ( ∂ ρ ∂ Z ) 0 dZ = ρ 0 + X 0 - x ρ 0 dX + Y 0 - y ρ 0 dY + Z 0 - z ρ 0 dZ - - - ( 9 )
Above formula is substituted into (6) and obtains the basic observation equation of linearizing carrier phase measurement:
Above formula equal sign left end is every is unknown several, and wherein (X, Y, Z) is τ athe co-ordinates of satellite in moment; Above formula equal sign right-hand member is every can be calculated according to satellite message or Doppler's observational data, thus realizes dynamic displacement monitoring.
Secondly, utilize Big Dipper II to realize static displacement monitoring for calculation method static in navigational system, specific implementation is as follows:
If survey station i, j observe n satellite simultaneously, can write out the poor observation equation of list of satellite p and satellite q, in formula, Δ N is that the complete cycle number that carrier phase postpones on travel path is poor.
In formula, be respectively t 1the poor observed reading of moment i, j list of two websites to satellite q, p; for t 1moment i, j two websites are to the range difference of satellite q; for t 1the clock correction of the receiver of moment i, j two websites; the complete cycle postponed on travel path for carrier phase is poor; for t 1moment ionospheric refraction correction; for t 1moment tropospheric refraction correction.
After the poor observation equation of list of satellite q and satellite p being asked further difference, can obtain
Make in formula (13)
Then formula (14) can be reduced to
for t 1time be engraved in receiver and inter-satellite ask second difference after the double difference observation obtained, i.e. static displacement.Now, the relative clock correction of receiver in two poor observation equation also cancellation, reduces the impact of satellite ephemeris error greatly.
Due to very little the distance relative satellite between two survey stations, can think that troposphere is suitable on the impact of collection signal with ionosphere, can eliminate after two difference formula (15) is reduced to
Carry out linearization process to the observation equation (16) after simplifying, lienarized equation is
ρ i p ( t 1 ) = ( X p - X i ) 2 + ( Y p - Y i ) 2 + ( Z p - Z i ) 2 - - - ( 17 )
If the approximate coordinates of survey station is (X 0, Y 0, Z 0), by above formula at (X 0, Y 0, Z 0) can to obtain linearizing observation equation after place's Taylor series expansion as follows:
ρ ~ = ρ i 0 - X i - X 0 ρ i 0 dX - Y i - Y 0 ρ i 0 dY - Z i - Z 0 ρ i 0 dZ - - - ( 18 )
With l i = X i - X 0 ρ i 0 , m i = Y i - Y 0 ρ i 0 , n i = Z i - Z 0 ρ i 0 , The coefficient of variable is represented in substituted (18).
Can obtain thus, in static relative positioning, when the coordinate of hypothesis survey station 1 is known, so the distance of it and satellite is also known.The coordinate of survey station 2 can represent by an approximate coordinates value, then two eikonal equation, and namely the static lower displacement occurred can be expressed as:
In formula, for constant term, be expressed as for j moment q satellite is to receiver distance, by that analogy, for i moment q satellite is to receiver distance, for j moment p satellite is to receiver distance, for i moment p satellite is to receiver distance.The approximate coordinates at station, p, q both sides all uses the approximate coordinates in observation file.Through compensating computation, just in the hope of approximate coordinates difference dX, dY, dZ of survey station, thus static displacement monitoring can be realized.

Claims (3)

1. based on the electric power tower deformation monitoring method of inertia measurement, it is characterized in that, the method adopts Big Dipper II for navigational system (BDStar navigation system/supplementary inertial guidance, be called for short BD/INS) integrated navigation technology, utilize Big Dipper II for navigational system real time positioning data, use in real time dynamically (Real-time kinematic is called for short RTK) calculation method to realize dynamic displacement monitoring; Its static calculation method is utilized to realize static displacement monitoring; Its obliquity sensor is utilized to realize steel tower attitude monitoring; Its acceleration transducer is utilized to realize iron tower horizontal, vertically opposite displacement monitoring; Its meteorological sensor is utilized to realize steel tower windage yaw, icing monitoring.
2. the electric power tower deformation monitoring method based on inertia measurement according to claim 1, is characterized in that, the described Big Dipper II that utilizes realizes dynamic displacement monitoring for Online Integer method real-time in navigational system, and specific implementation is as follows:
When receiving function to satellite-signal Continuous Tracking, then each complete carrier phase actual value by following a few part composition
In formula, N 0it is the complete cycle number that carrier phase postpones on travel path; from t 0to t ithe observed reading of moment carrier phase measurement, in units of all numbers; from initial time t 0to observation moment t ibetween carrier phase change complete cycle number, it is from t 0to t ithe complete cycle number of the difference frequency signal added up one by one with counter in the time; be then the part of difference frequency signal less than a complete cycle, it is at t ian instantaneous flow measured value in moment.
Carrier phase actual value also following formula can be expressed as
In formula, t a = τ a - V t a ; t b = τ b - V t b = τ a + ( τ b - τ a ) - V t b . Wherein, t ait is satellite clock reading; τ ait is the etalon time that signal is launched; the clock correction of satellite; τ bit is the etalon time arriving receiver; the clock correction of receiver; it is the phase place of the reference signal that receiver produces; it is the carrier phase of satellite launch;
For the good oscillator of stability, actual phase and the relation between frequency f can be expressed as following formula
In formula, f is signal frequency; Δ t is the small time interval;
By formula t a, t bexpression formula substitutes into the expression formula (2) of carrier phase actual value, and considers the relation between formula phase place and frequency, can obtain following formula
In formula, τ b - τ a = 1 c ( ρ - δ ρ ion - δ ρ trop ) . Wherein, τ bait is the actual propagation time from satellite to receiver; ρ is the actual range of satellite to receiver; ρ ionit is ionospheric refraction correction; δ ρ tropit is tropospheric refraction correction;
So, can by carrier phase actual value following formula can be expressed as
Above formula is substituted into formula (1), obtain the basic observation equation of carrier phase, i.e. measured value equation
By above formula equal sign both sides with being multiplied by λ=c/f, wherein c is propagation velocity of electromagnetic wave, then have
ρ ~ = ρ - δ ρ ion - δ ρ trop + cv τa - cv τb - λ N 0 - - - ( 7 )
In formula, ρ is τ athe satellite position (x, y, z) in moment and τ bactual range between the receiver location (X, Y, Z) in moment, namely ρ = [ ( x - X ) 2 + ( y - Y ) 2 + ( z - Z ) 2 ] 1 2 ;
Introduce following relational expression
ρ 0 = [ ( x - X 0 ) 2 + ( y - Y 0 ) 2 + ( z - Z 0 ) 2 ] 1 2 X = X 0 + dX Y = Y 0 + dY Z = Z 0 + dZ - - - ( 8 )
By the approximate coordinates (X of ρ at survey station 0, Y 0, Z 0) obtain by Taylor series expansion
ρ = ρ 0 + ( ∂ ρ ∂ X ) 0 dX + ( ∂ ρ ∂ Y ) 0 dY + ( ∂ ρ ∂ Z ) 0 dZ = ρ 0 + X 0 - X ρ 0 dX + Y 0 - y ρ 0 dY + Z 0 - z ρ 0 dZ - - - ( 9 )
Above formula is substituted into (6) and obtains the basic observation equation of linearizing carrier phase measurement:
Above formula equal sign left end is every is unknown several, and wherein (X, Y, Z) is τ athe co-ordinates of satellite in moment; Above formula equal sign right-hand member is every can be calculated according to satellite message or Doppler's observational data, thus realizes dynamic displacement monitoring.
3. the electric power tower deformation monitoring method based on inertia measurement according to claim 1, is characterized in that, the described Big Dipper II that utilizes realizes static displacement monitoring for calculation method static in navigational system, and specific implementation is as follows:
If survey station i, j observe n satellite simultaneously, can write out the poor observation equation of list of satellite p and satellite q, in formula, Δ N is that the complete cycle number that carrier phase postpones on travel path is poor.
In formula, be respectively t 1the poor observed reading of moment i, j list of two websites to satellite q, p; for t 1moment i, j two websites are to the range difference of satellite q for t 1the clock correction of the receiver of moment i, j two websites; the complete cycle postponed on travel path for carrier phase is poor; for t 1moment ionospheric refraction correction; for t 1moment tropospheric refraction correction;
After the poor observation equation of list of satellite q and satellite p being asked further difference, can obtain
Make in formula (13)
Then formula (14) can be reduced to
for t 1time be engraved in receiver and inter-satellite ask second difference after the double difference observation obtained, i.e. static displacement; Now, the relative clock correction of receiver in two poor observation equation also cancellation, reduces the impact of satellite ephemeris error greatly;
Due to very little the distance relative satellite between two survey stations, can think that troposphere is suitable on the impact of collection signal with ionosphere, can eliminate after two difference formula (15) is reduced to
Carry out linearization process to the observation equation (16) after simplifying, lienarized equation is
ρ i p ( t 1 ) = ( X p - X i ) 2 + ( Y p - Y i ) 2 + ( Z p - Z i ) 2 - - - ( 17 )
If the approximate coordinates of survey station is (X 0, Y 0, Z 0), by above formula at (X 0, Y 0, Z 0) can to obtain linearizing observation equation after place's Taylor series expansion as follows:
ρ ~ = ρ i 0 - X i - X 0 ρ i 0 dX - Y i - Y 0 ρ i 0 dY - Z i - Z 0 ρ i 0 dZ - - - ( 18 )
With l i = X i - X 0 ρ i 0 , m i = Y i - Y 0 ρ i 0 , n i = Z i - Z 0 ρ i 0 , The coefficient of variable is represented in substituted (18).
Can obtain thus, in static relative positioning, when the coordinate of hypothesis survey station 1 is known, so the distance of it and satellite is also known; The coordinate of survey station 2 can represent by an approximate coordinates value, then two eikonal equation, and namely the static lower displacement occurred can be expressed as:
In formula, for constant term, be expressed as L ij pq = ρ j q - ρ i q - ρ j p + ρ i p ; for j moment q satellite is to receiver distance, by that analogy, for i moment q satellite is to receiver distance, for j moment p satellite is to receiver distance, for i moment p satellite is to receiver distance; The approximate coordinates at station, p, q both sides all uses the approximate coordinates in observation file; Through compensating computation, just in the hope of approximate coordinates difference dX, dY, dZ of survey station, thus static displacement monitoring can be realized.
CN201410683311.2A 2014-11-25 2014-11-25 Electric power iron tower deformation monitoring method based on inertia measurement Pending CN104913743A (en)

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CN107816959A (en) * 2017-10-27 2018-03-20 界首广播电视台 Utilize the method for sensor detection iron tower construction member
CN108709535A (en) * 2018-07-19 2018-10-26 中铁隧道局集团有限公司 Tunnel deformation monitoring method based on inertia measurement principle
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CN114111708A (en) * 2021-11-15 2022-03-01 天津大学 Soil deformation monitoring device and system and using method thereof

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