CN106908807B

CN106908807B - Pseudo code modulation navigation positioning and deformation monitoring, monitoring terminal, monitoring center, navigation receiver and code data management center

Info

Publication number: CN106908807B
Application number: CN201710112444.8A
Authority: CN
Inventors: 陈曦; 王梦璐; 吴胜; 匡麟玲; 王有政; 姜春晓
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2017-02-28
Filing date: 2017-02-28
Publication date: 2020-06-05
Anticipated expiration: 2037-02-28
Also published as: CN106908807A

Abstract

The invention relates to a pseudo code modulation navigation positioning and deformation monitoring and monitoring terminal, a monitoring center, a navigation receiver and a code data management center, wherein the method comprises the following steps: receiving satellite telegraph text signals; acquiring positioning time service information of the deformation monitoring terminal according to the satellite telegraph text signal; modulating the positioning time service information of the deformation monitoring terminal by using a pseudo code to acquire pseudo code modulation information, wherein the code length of the pseudo code is an integer power of 2, the cycle repetition is carried out by taking the integer power of 2 as a cycle, and a random sequence is formed in a repetition cycle; and transmitting the pseudo code modulation information to a deformation monitoring center and/or a user navigation receiver by using a data frequency modulation broadcast signal so that the deformation monitoring center carries out deformation monitoring on a building where the deformation monitoring terminal is located and/or the user navigation receiver carries out navigation positioning. The pseudo code used by the invention takes the integral power of 2 as the code length, and greatly reduces the calculation amount for conveniently adopting the fast Fourier transform algorithm to carry out code phase parallel capture.

Description

Pseudo code modulation navigation positioning and deformation monitoring, monitoring terminal, monitoring center, navigation receiver and code data management center

Technical Field

The invention relates to the technical field of satellite navigation, in particular to a pseudo code modulation navigation positioning and deformation monitoring and monitoring terminal, a monitoring center, a navigation receiver and a code data management center.

Background

In recent years, with the rapid development of the civil construction industry, various high-rise civil buildings, and large buildings such as bridges and dams have been developed. In order to prevent the damage caused by the deformation and collapse of the building, the development and research of the building deformation monitoring technology at home and abroad are also increasingly paid attention. In the traditional building deformation monitoring technology field, the information transmission between systems not only consumes a large amount of network resources, but also can not ensure the accuracy of the information, thereby reducing the overall efficiency of deformation monitoring.

Disclosure of Invention

In view of the above, there is a need to provide a pseudo code modulation navigation positioning and deformation monitoring and monitoring terminal, a monitoring center, a navigation receiver and a code data management center, wherein the method includes:

receiving satellite telegraph text signals;

acquiring positioning time service information of a deformation monitoring terminal according to the satellite telegraph text signal, wherein the positioning time service information of the deformation monitoring terminal comprises: the self position of the deformation monitoring terminal and the time service information of the deformation monitoring terminal;

modulating the positioning time service information of the deformation monitoring terminal by using a pseudo code to acquire pseudo code modulation information, wherein the code length of the pseudo code is an integer power of 2, the cycle repetition is carried out by taking the integer power of 2 as a cycle, and a random sequence is formed in a repetition cycle;

and transmitting the pseudo code modulation information to a deformation monitoring center and/or a user navigation receiver by using a data frequency modulation broadcast signal so that the deformation monitoring center carries out deformation monitoring on a building where the deformation monitoring terminal is located and/or the user navigation receiver carries out navigation positioning.

In one embodiment, before the step of modulating the positioning time service information of the deformation monitoring terminal by using the pseudo code, the method further includes:

receiving and demodulating a first data frequency modulation broadcast signal sent by a deformation monitoring center and a second data frequency modulation broadcast signal sent by a code data management center, acquiring an area identifier of the deformation monitoring center in the first data frequency modulation broadcast signal and a communication address of the deformation monitoring center, and acquiring a communication address of the code data management center in the second data frequency modulation broadcast signal;

configuring the identifier of the attributive area of the deformation monitoring terminal according to the identifier of the area where the deformation monitoring center is located; configuring the building identification to which the deformation monitoring terminal belongs according to the building identification;

sending a first registration request to the code data management center according to the communication address of the code data management center, wherein the first registration request carries an identification of a deformation monitoring terminal and an identification of a home area of the deformation monitoring terminal;

receiving a pseudo code sent by the code data management center;

sending a second registration request to the deformation monitoring center according to the communication address of the deformation monitoring center, wherein the second registration request carries the self identification of the deformation monitoring terminal, the self-belonged building identification of the deformation monitoring terminal and the pseudo code;

and receiving a registration success message sent by the deformation monitoring center.

In one embodiment, before the step of receiving the satellite text signal, the method further comprises:

receiving a navigational positioning assistance enhancement system signal, the navigational positioning assistance enhancement system signal comprising: low earth orbit satellite navigation positioning auxiliary enhancement system signals or symbiotic navigation positioning and deformation monitoring positioning auxiliary enhancement system signals;

acquiring auxiliary information for capturing satellite signals and differential correction information of the satellite signals according to the signals of the navigation positioning auxiliary enhancement system;

the receiving satellite text signals comprises:

acquiring satellite telegraph text signals according to the auxiliary information of the captured satellite signals and the initial position of the deformation monitoring terminal, wherein the initial position of the deformation monitoring terminal comprises a historical positioning position or the deformation monitoring center position;

the acquiring of the positioning time service information of the deformation monitoring terminal according to the satellite telegraph text signal comprises the following steps:

according to the satellite signal differential correction information, correcting the satellite telegraph text signal to obtain a corrected satellite telegraph text signal;

and acquiring the position of the deformation monitoring terminal and the time service information of the deformation monitoring terminal according to the corrected satellite telegraph text signal.

In one embodiment, the method comprises:

establishing a deformation monitoring coordinate system, wherein the deformation monitoring coordinate system is a three-dimensional coordinate system comprising height;

receiving a data frequency modulation broadcast signal sent by a deformation monitoring terminal, reading a pseudo code of the deformation monitoring terminal, demodulating the data frequency modulation broadcast signal, and acquiring positioning time service information of the deformation monitoring terminal, wherein the code length of the pseudo code is an integer power of 2, the cycle repetition is carried out by taking the integer power of 2, and a random sequence is formed in a repetition cycle;

converting a coordinate system of the positioning and time service information of the deformation monitoring terminal into the deformation monitoring coordinate system, and acquiring the position of the converted deformation monitoring terminal;

and carrying out deformation monitoring on the building where the deformation monitoring terminal is located according to the position of the conversion deformation monitoring terminal.

In one embodiment, before the step of reading the pseudo code of the distortion monitoring terminal and demodulating the data fm broadcast signal, the method further includes:

receiving a second registration request sent by a deformation monitoring terminal, wherein the second registration request carries an identification of the deformation monitoring terminal, an identification of a building to which the deformation monitoring terminal belongs and a pseudo code, and the pseudo code is distributed to the deformation monitoring terminal by a code data management center;

recording the self identification of the monitoring terminal, the self attributive building identification of the deformation monitoring terminal and the pseudo code;

and sending a registration success message to the deformation monitoring terminal.

In one embodiment, the monitoring deformation of the building where the deformation monitoring terminal is located includes:

according to a preset first time interval, comparing the position of the conversion deformation monitoring terminal with the position of the conversion deformation monitoring terminal in a previous time interval in a second time interval to obtain a first difference value, wherein the first time interval is smaller than a second event interval;

and when the first difference value is larger than or equal to a deformation threshold value, sending an alarm of the deformation of the building.

In one embodiment, the method comprises:

acquiring initial positioning information and acquiring the initial position of a user navigation receiver, wherein the initial positioning information comprises satellite positioning information or mobile network positioning information;

sending the initial position of the user navigation receiver to a code data management center, and requesting the code data management center for a pseudo code range of a deformation monitoring terminal in an area where the initial position of the user navigation receiver is located, wherein the code data management center manages pseudo code information of the deformation monitoring terminal, the code length of the pseudo code is an integral power of 2, the period is repeated by taking the integral power of 2, and a random sequence is formed in a repetition period;

receiving a pseudo code range sent by the code data management center;

capturing deformation monitoring terminal positioning time service information sent by the deformation monitoring terminal in the pseudo code range according to the pseudo code range;

and performing navigation positioning according to the positioning time service information of the deformation monitoring terminal.

In one embodiment, the method comprises:

receiving a first registration request sent by a deformation monitoring terminal, wherein the first registration request carries an identification of the deformation monitoring terminal and an identification of a home area of the deformation monitoring terminal;

generating a pseudo code for the deformation monitoring terminal, wherein the code length of the pseudo code is an integer power of 2, the cycle repetition is carried out by taking the integer power of 2 as a cycle, and a random sequence is formed in one repetition cycle;

calculating the correlation between the pseudo codes and each pseudo code in the area where the self-attributive area identification of the deformation monitoring terminal is located, and acquiring a correlation coefficient;

and when the correlation coefficient is smaller than a correlation threshold value, sending the pseudo code to the deformation monitoring terminal.

In one embodiment, through various deformation monitoring terminals arranged at different positions of a building, self position information and time service information are obtained through receiving satellite text signals, positioning time service information of the deformation monitoring terminals is obtained, and the positioning time service information of the deformation monitoring terminals is sent to a deformation monitoring center and/or a user navigation receiver through data frequency modulation broadcast signals, so that the deformation monitoring center carries out deformation monitoring on the building where the deformation monitoring terminals are located, and/or the user navigation receiver carries out navigation positioning. The data frequency modulation broadcast signal sent by the deformation monitoring terminal in the embodiment can be used for monitoring the deformation of the building, and can also be used for navigation and positioning of a user navigation receiver. Meanwhile, the pseudo code used in the embodiment takes the integer power of 2 as the code length, so that the code phase can be conveniently and rapidly captured in parallel by adopting a fast Fourier transform algorithm, and the calculation amount is greatly reduced.

In one embodiment, when the deformation monitoring terminal is installed, the deformation monitoring terminal receives data frequency modulation broadcast signals sent by the deformation monitoring center and the code data management center respectively, and after receiving a pseudo code distributed by the code data management center, the deformation monitoring terminal registers the received data frequency modulation broadcast signals to the deformation monitoring center. The pseudo code obtaining and registering process during installation of the deformation monitoring terminal provided by the embodiment improves the pseudo code management efficiency of the whole system and also ensures the use efficiency of the pseudo code.

In one embodiment, before the deformation monitoring terminal receives the satellite telegraph text signal, the navigation positioning auxiliary enhancement system signal is firstly utilized to obtain satellite signal auxiliary information and differential correction information, and the self position and the time service information of the deformation monitoring terminal are determined according to the auxiliary information and the differential correction information and the received satellite telegraph text signal. Because the navigation positioning auxiliary enhancement system signal is used, the positioning time service information of the deformation monitoring terminal is more accurate, and the deformation monitoring result of the deformation monitoring center and the navigation positioning result of the user navigation receiver are more accurate.

In one embodiment, the deformation monitoring center demodulates positioning time service information by establishing a deformation monitoring coordinate system, according to received data frequency modulation broadcast signals and read pseudo codes of the deformation monitoring terminals, performs coordinate system conversion, and performs analysis under a unified coordinate system on position information sent by all the deformation monitoring terminals to perform deformation monitoring on the building. By adopting the deformation monitoring coordinate system, the deformation monitoring center can carry out normalized analysis on the information sent by a plurality of deformation monitoring terminals, thereby improving the efficiency of information processing and the accuracy of information processing. Due to the adoption of the pseudo code in the embodiment, the calculation amount of the deformation monitoring terminal is greatly reduced, and the calculation efficiency of the deformation monitoring system is improved.

In one embodiment, the deformation monitoring center manages a large number of deformation monitoring terminals, and the deformation monitoring terminals that join or withdraw from the deformation monitoring center at any time are also large, so as to better manage each deformation monitoring terminal in the coverage area of the deformation monitoring center, the deformation monitoring center sends the self identification, the position coordinate information, the area identification where the deformation monitoring terminal is located and the communication address information in a data frequency modulation broadcast signal mode, so that the deformation monitoring terminal receiving the broadcast signal registers in the deformation monitoring center and the like, participates in the information interaction process of the whole system, and the overall efficiency of deformation monitoring can be improved.

In one embodiment, the deformation monitoring center obtains a difference value by comparing the position of the transformation deformation monitoring terminal with the position of the transformation deformation monitoring terminal in the previous time interval in the second time interval according to a preset first time interval, performs deformation monitoring on the building, and can perform short-term monitoring or long-term monitoring on the building with different requirements by setting the first time interval and the second time interval, so as to meet different monitoring requirements of different buildings.

In one embodiment, the user navigation receiver requests the code data management center for a pseudo code range, and captures positioning time service information sent by a deformation monitoring terminal in the range of the initial position of the user navigation receiver, so that the user navigation receiver can capture the positioning time service information more efficiently and accurately, and the positioning result is more accurate. The requirement of the pseudo code range avoids the excessively large number of pseudo codes needing to be captured.

In one embodiment, the code data management center dynamically allocates the pseudo codes to the deformation monitoring terminals according to the requests of the deformation monitoring terminals, the generation process is very convenient, and the number of the generated codes is not limited by the generation rule of the golden codes.

The present invention also provides a deformation monitoring terminal, including:

the satellite message signal receiving module is used for receiving satellite message signals;

the positioning and time service information acquisition module of the deformation monitoring terminal is used for acquiring positioning and time service information of the deformation monitoring terminal according to the satellite telegraph text signal, and the positioning and time service information of the deformation monitoring terminal comprises: the self position of the deformation monitoring terminal and the time service information of the deformation monitoring terminal;

the pseudo code modulation module is used for modulating the positioning time service information of the deformation monitoring terminal by using a pseudo code to acquire pseudo code modulation information, wherein the code length of the pseudo code is an integer power of 2, the pseudo code is repeated by taking the integer power of 2 as a period, and a random sequence is formed in a repetition period;

and the pseudo code modulation information sending module is used for sending the pseudo code modulation information to a deformation monitoring center and/or a user navigation receiver by using a data frequency modulation broadcast signal so that the deformation monitoring center carries out deformation monitoring on a building where the deformation monitoring terminal is located and/or the user navigation receiver carries out navigation positioning.

In one embodiment, the method further comprises the following steps:

the receiving and demodulating module is used for receiving and demodulating a first data frequency modulation broadcast signal sent by a deformation monitoring center and a second data frequency modulation broadcast signal sent by a code data management center, acquiring an area identifier of the deformation monitoring center in the first data frequency modulation broadcast signal and a communication address of the deformation monitoring center, and acquiring a communication address of the code data management center in the second data frequency modulation broadcast signal;

the information configuration module is used for configuring the identifier of the home area of the deformation monitoring terminal according to the identifier of the area where the deformation monitoring center is located; configuring the building identification to which the deformation monitoring terminal belongs according to the building identification;

the sending module is used for sending a first registration request to the code data management center according to the communication address of the code data management center, wherein the first registration request carries the self identification of the deformation monitoring terminal and the self home area identification of the deformation monitoring terminal;

the receiving and demodulating module is used for receiving the pseudo code sent by the code data management center;

the sending module is further configured to send a second registration request to the deformation monitoring center according to the communication address of the deformation monitoring center, where the second registration request carries the identification of the deformation monitoring terminal, the identification of the building to which the deformation monitoring terminal belongs, and the pseudo code;

the receiving and demodulating module is further configured to receive a registration success message sent by the deformation monitoring center.

In one embodiment, the method further comprises the following steps:

an aided enhancement system signal receiving module, configured to receive a navigational positioning aided enhancement system signal, the navigational positioning aided enhancement system signal comprising: low earth orbit satellite navigation positioning auxiliary enhancement system signals or symbiotic navigation positioning and deformation monitoring positioning auxiliary enhancement system signals;

the auxiliary and differential information acquisition module is used for acquiring satellite signal acquisition auxiliary information and satellite signal differential correction information according to the navigation positioning auxiliary enhancement system signal;

the satellite message signal receiving module is further configured to acquire a satellite message signal according to the acquired satellite signal auxiliary information and an initial position of the deformation monitoring terminal, where the initial position of the deformation monitoring terminal includes a historical positioning position or a deformation monitoring center position;

the deformation monitoring terminal positioning time service information acquisition module is further used for correcting the satellite telegraph text signal according to the satellite signal differential correction information to acquire a corrected satellite telegraph text signal; and acquiring the position of the deformation monitoring terminal and the time service information of the deformation monitoring terminal according to the corrected satellite telegraph text signal.

The invention also provides a deformation monitoring center, comprising:

the deformation monitoring coordinate system establishing module is used for establishing a deformation monitoring coordinate system, and the deformation monitoring coordinate system is a three-dimensional coordinate system comprising height;

the positioning time service information acquisition module is used for receiving a data frequency modulation broadcast signal sent by a deformation monitoring terminal, reading a pseudo code of the deformation monitoring terminal, demodulating the data frequency modulation broadcast signal and acquiring positioning time service information of the deformation monitoring terminal, wherein the code length of the pseudo code is an integer power of 2, the integer power of 2 is used as a periodic repetition, and a random sequence is formed in a repetition period;

the coordinate system conversion module is used for converting a coordinate system of the positioning and time service information of the deformation monitoring terminal into the deformation monitoring coordinate system and acquiring the position of the conversion deformation monitoring terminal;

and the deformation monitoring module is used for monitoring the deformation of the building where the deformation monitoring terminal is located according to the position of the conversion deformation monitoring terminal.

In one embodiment, the method further comprises the following steps:

the second registration request receiving module is used for receiving a second registration request sent by the deformation monitoring terminal, wherein the second registration request carries the self identification of the deformation monitoring terminal, the self attributive building identification of the deformation monitoring terminal and a pseudo code, and the pseudo code is distributed to the deformation monitoring terminal by a code data management center;

the recording module is used for recording the self identification of the monitoring terminal, the self belonged building identification of the deformation monitoring terminal and the pseudo code;

and the registration success message sending module is used for sending a registration success message to the deformation monitoring terminal.

In one embodiment, the deformation monitoring module is further configured to:

In one embodiment, when the deformation monitoring terminal is newly installed, the deformation monitoring terminal is registered in the deformation monitoring center, the registration information carries pseudo code information, and the registration process of the deformation monitoring terminal facilitates the unified management of the deformation monitoring center and can improve the overall efficiency of deformation monitoring.

The present invention also provides a user navigation receiver, comprising:

the system comprises an initial positioning information acquisition module, a positioning information acquisition module and a positioning information acquisition module, wherein the initial positioning information acquisition module is used for acquiring initial positioning information and acquiring the initial position of a user navigation receiver, and the initial positioning information comprises satellite positioning information or mobile network positioning information;

the system comprises a pseudo code range request module, a code data management center and a user navigation receiver, wherein the pseudo code range request module is used for sending the initial position of the user navigation receiver to the code data management center and requesting the pseudo code range of a deformation monitoring terminal in an area where the initial position of the user navigation receiver is located from the code data management center, the code data management center manages pseudo code information of the deformation monitoring terminal, the code length of the pseudo code is an integral power of 2, the period is repeated by taking the integral power of 2, and a random sequence is formed in a repeating period;

the pseudo code range receiving module is used for receiving the pseudo code range sent by the code data management center;

the positioning time service information acquisition module is used for capturing the positioning time service information of the deformation monitoring terminal, which is sent by the deformation monitoring terminal in the pseudo code range, according to the pseudo code range;

and the navigation positioning module is used for performing navigation positioning according to the positioning time service information of the deformation monitoring terminal.

The present invention also provides a code data management center, comprising:

the system comprises a first registration request acquisition receiving module, a first registration request acquisition receiving module and a first registration request processing module, wherein the first registration request is used for receiving a first registration request sent by a deformation monitoring terminal, and the first registration request carries an identification of the deformation monitoring terminal and an identification of a home area of the deformation monitoring terminal;

the pseudo code generating module is used for generating a pseudo code for the deformation monitoring terminal, the code length of the pseudo code is an integer power of 2, the cycle repetition is carried out by taking the integer power of 2, and a random sequence is formed in a repetition cycle;

the correlation judgment module is used for calculating the correlation between the pseudo codes and each pseudo code in the area where the self-attributive area identification of the deformation monitoring terminal is located, and acquiring a correlation coefficient;

and the pseudo code sending module is used for sending the pseudo code to the deformation monitoring terminal when the correlation coefficient is smaller than a correlation threshold value.

Drawings

FIG. 1 is a schematic structural diagram of a pseudo code modulation symbiotic navigation positioning and deformation monitoring system;

fig. 2 is a schematic flow chart of a pseudo code modulation symbiotic navigation positioning and deformation monitoring method according to an embodiment;

fig. 3 is a schematic flowchart of a pseudo code modulation symbiotic navigation positioning and deformation monitoring method according to another embodiment;

fig. 4 is a schematic flowchart of a pseudo code modulation symbiotic navigation positioning and deformation monitoring method according to another embodiment;

fig. 5 is a schematic flowchart of a pseudo code modulation symbiotic navigation positioning and deformation monitoring method according to another embodiment;

FIG. 6 is a diagram of a parallel code phase acquisition algorithm;

FIG. 7 is a schematic structural diagram of a deformation monitoring terminal according to an embodiment;

FIG. 8 is a schematic diagram of a deformation monitoring center according to one embodiment;

FIG. 9 is a schematic diagram of a user navigation receiver of an embodiment;

fig. 10 is a schematic structural view of a code data management center according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In order to meet the requirements of different application fields, the deformation monitoring precision needs to be in millimeter level or even submillimeter level. With the improvement of the GNSS satellite positioning technology, the improvement of the hardware performance of the receiver and the development of various auxiliary enhanced navigation systems, the adoption of the GNSS satellite positioning technology can completely meet the precision required by deformation monitoring, and the GNSS satellite positioning technology is widely applied to the field of deformation monitoring.

On the other hand, in the technical field of navigation positioning, realization of high-availability, high-reliability and high-precision navigation positioning based on a multi-source fusion positioning idea is always one of key development directions of current GNSS navigation positioning, and especially realization of indoor and outdoor seamless sub-meter and centimeter-meter navigation positioning has outstanding significance.

In summary, the invention provides a navigation positioning and deformation monitoring method and system based on symbiotic thought, which integrates deformation monitoring operation of industrial and civil buildings and high-availability, high-reliability and high-precision positioning and navigation functions in a symbiotic manner, and has very important implementation significance and very wide application prospect.

In the symbiotic navigation positioning and deformation monitoring system based on frequency modulation data broadcasting shown in fig. 1, the symbiotic navigation positioning and deformation monitoring method according to the invention relates to five parts of a GNSS satellite, a deformation monitoring terminal, a cell deformation monitoring center, a code data management center and a user navigation receiver. Taking deformation monitoring of a building in a residential community as an example, for a certain building, more than two deformation monitoring terminals need to be installed at specific positions such as a roof corner and the like, each deformation monitoring terminal receives a navigation positioning signal of a GNSS satellite, carries out high-precision positioning time service on the deformation monitoring terminal, and distributes the self positioning time service result to a community deformation monitoring center and a peripheral user navigation positioning receiver in a data frequency modulation broadcast message mode; the method comprises the following steps that a cell deformation monitoring center monitors and analyzes precise position data of each deformation monitoring terminal of a building in real time, and whether the building has the hidden danger of deformation and collapse is judged; the code data management center manages pseudo code information of all deformation monitoring terminals, when a user navigation receiver sends a code range request, the user navigation receiver informs the user of a possible pseudo code range of the deformation monitoring terminal in the area where the user navigation receiver is located, the user navigation receiver receives signals of surrounding deformation monitoring terminals according to the pseudo code range request, the pseudo satellite signals are regarded as the concept of functional symbiosis, and the work of accurate positioning navigation or indoor positioning of the user navigation receiver is completed by combining with GNSS satellite navigation positioning signals.

The code data management center can be integrated with the deformation monitoring center or separated from the deformation monitoring center, and can be flexibly set according to specific application scenes and actual requirements.

Fig. 2 is a schematic flowchart of a pseudo code modulation co-generation navigation positioning and deformation monitoring method according to an embodiment, where the pseudo code modulation co-generation navigation positioning and deformation monitoring method shown in fig. 2 includes:

and step S10, receiving the satellite telegraph text signal.

Specifically, the deformation monitoring terminal is responsible for receiving the telegraph text signals of each satellite.

Step S20, acquiring deformation monitoring terminal positioning time service information according to the satellite telegraph text signal, wherein the deformation monitoring terminal positioning time service information comprises: the self position of the deformation monitoring terminal and the time service information of the deformation monitoring terminal.

Specifically, the self-position information and the time service information of the deformation monitoring terminal are obtained according to the satellite telegraph text signals. The satellite telegraph text signals are analyzed, positioning and time service information acquisition are carried out, and the traditional satellite positioning and time service information acquisition method is adopted.

And step S30, using a pseudo code to modulate the positioning time service information of the deformation monitoring terminal, and acquiring pseudo code modulation information, wherein the code length of the pseudo code is an integer power of 2, the pseudo code is repeated by taking the integer power of 2 as a period, and a random sequence is formed in a repetition period.

Specifically, the C/a code of the conventional GPS satellite signal adopts a gold code with 1023 length, coexists in 1025 different sequences, and is enough to be allocated to all GPS satellites for use, but considering a large number of residential building aggregation areas or technical industry parks in a limited range and the number of deformation monitoring terminals added at any time as required, a pseudo-random sequence code with convenient generation and a large enough upper limit of the number of codes is required to be used as a pseudo code dedicated for the deformation monitoring terminals. Therefore, the present embodiment provides a new pseudo code, which is characterized as follows:

1) unlike the conventional C/A code, the pseudo code has a length of 2ⁿI.e. an integer power of 2.

2) Abandoning the generation mode of m sequence, the pseudo code is a random sequence within one period and takes 2ⁿIs a periodic repetition.

By using 2ⁿThe advantages as a pseudo code length are: when signals are captured, Fast Fourier Transform (FFT) can be directly adopted for parallel frequency search and code phase search, the times of multiplication and addition operation of the traditional Fourier transform are greatly reduced, the operation complexity is reduced, and the capture speed is improved.

And step S40, sending the pseudo code modulation information to a deformation monitoring center and/or a user navigation receiver by using a data frequency modulation broadcast signal, so that the deformation monitoring center carries out deformation monitoring on a building where the deformation monitoring terminal is located, and/or the user navigation receiver carries out navigation positioning.

Specifically, the positioning time service information is broadcasted in a data frequency modulation broadcast signal mode, so that after a deformation monitoring center and/or a user navigation receiver receive the broadcast signals, deformation monitoring and navigation positioning are respectively carried out.

The FM data broadcasting refers to any broadcasting transmitter of 87-108 MHz broadcasting station network which is widely covered at present. At present, the frequency modulation broadcast network in China is already built, broadcast transmitter equipment also widely covers all over the country, and the system provided by the invention does not need to modify and newly build the broadcast transmitter equipment. In order not to interfere with the content that the broadcaster itself needs to transmit, symbiotic fm data broadcasting techniques may be employed. The technology is based on the phenomenon that the actual signal main body of the stereo frequency modulation signal is within +/-75 KHz, and the frequency modulation signal power on a frequency spectrum of +/-75,150 KHz is very low, and the frequency spectrum resource is reused.

The navigation method based on frequency modulation Data broadcasting can adopt the symbiotic frequency modulation Data broadcasting, can also adopt a Data transmission channel of a frequency modulation frequency band digital audio broadcasting CDR (GY/T268.1-2013 national standard of frequency modulation frequency band digital audio broadcasting), or adopts a Data broadcasting RDS (Radio Data System, which is a widely used frequency modulation Data broadcasting technology and has a Data rate of about 1.1kbps and a related international standard of IEC 62106:2015Specification of the Radio Data System (RDS) for VHF/FM sound broadcasting and frequency modulation range from 87,5MHz to 108 and 0 MHz). Of course, the present invention is not limited to the above-described broadcast technology scheme, and other broadcast schemes may be used.

When the deformation monitoring terminal is used for carrying out the digital frequency modulation broadcasting on the positioning and time service information, a fixed broadcast message format is generally adopted, the frame length of the deformation monitoring terminal is 300 bits, when the broadcasting is carried out at a data rate of 50bps, a user receiver can obtain one piece of position information every 6s, the application requirements are met, and the meanings of each field of the message are shown in the table 1.

Table 1 text field meaning of deformation monitoring terminal:

field(s)	Means of
		Preamble	Preset frame header, shaped as "11100010010"
Terminal ID	Deformation monitoring terminal ID
		GPS Week Num	GPS cycle number
Sec of Week	Seconds in GPS week
		Nanosecond	Nanosecond number (precise to the first n according to application requirements)
Pos X	X-axis position under ECEF coordinate system (or inertial coordinate system)
		Pos Y	Y-axis position under ECEF coordinate system (or inertial coordinate system)
Pos Z	Z-axis position under ECEF coordinate system (or inertial coordinate system)
		Parity	Parity field, each bit corresponding to the parity value of the preceding field

In this embodiment, through the deformation monitoring terminals arranged at different positions of the building, the self position information and the time service information are obtained by receiving satellite text signals, the positioning time service information of the deformation monitoring terminals is obtained, and the positioning time service information of the deformation monitoring terminals is sent to a deformation monitoring center and/or a user navigation receiver by using data frequency modulation broadcast signals, so that the deformation monitoring center performs deformation monitoring on the building where the deformation monitoring terminals are located, and/or the user navigation receiver performs navigation positioning. The data frequency modulation broadcast signal sent by the deformation monitoring terminal in the embodiment can be used for monitoring the deformation of the building, and can also be used for navigation and positioning of a user navigation receiver. Meanwhile, the pseudo code used in the embodiment takes the integer power of 2 as the code length, so that the code phase can be conveniently and rapidly captured in parallel by adopting a fast Fourier transform algorithm, and the calculation amount is greatly reduced.

receiving and demodulating a first data frequency modulation broadcast signal sent by a deformation monitoring center and a second data frequency modulation broadcast signal sent by a code data management center, acquiring an area identifier of the deformation monitoring center in the first data frequency modulation broadcast signal and a communication address of the deformation monitoring center, and acquiring a communication address of the code data management center in the second data frequency modulation broadcast signal; configuring the identifier of the attributive area of the deformation monitoring terminal according to the identifier of the area where the deformation monitoring center is located; configuring the building identification to which the deformation monitoring terminal belongs according to the building identification; sending a first registration request to the code data management center according to the communication address of the code data management center, wherein the first registration request carries an identification of a deformation monitoring terminal and an identification of a home area of the deformation monitoring terminal; receiving a pseudo code sent by the code data management center; sending a second registration request to the deformation monitoring center according to the communication address of the deformation monitoring center, wherein the second registration request carries the self identification of the deformation monitoring terminal, the self-belonged building identification of the deformation monitoring terminal and the pseudo code; and receiving a registration success message sent by the deformation monitoring center.

Specifically, the deformation monitoring terminal searches for a signal of a deformation monitoring center of a nearby cell, obtains information such as a name, an ID (identity) and a network communication address of the deformation monitoring center of the nearby cell, and an installer selects and configures the number of the affiliated cell and the number of a building where the affiliated cell is located, and obtains the ID of the affiliated cell and the ID of the building where the affiliated cell is located; the deformation monitoring terminal searches for a signal of a code data management center nearby, obtains a network communication address of the signal and stores the network communication address; the deformation monitoring terminal sends a registration request to a code data management center in a wireless communication mode such as mobile communication and the like, wherein the registration request comprises self ID and cell ID of the deformation monitoring terminalInformation; the code data management center receives the registration request and generates a length of 2ⁿThe random sequence is used as a pseudo code of the deformation monitoring terminal, whether the random sequence has stronger correlation with each pseudo code used by the same cell is detected, and if the random sequence has stronger correlation with each pseudo code used by the same cell, the random sequence is regenerated; the random sequence may be a pseudo-random sequence generated based on a mathematical or logical algorithm, or a true random sequence generated based on a computer system or circuit device as a true random source. The random sequence needs to satisfy the following characteristics: the autocorrelation is good; uncorrelated with other random sequences that have been used as pseudo-codes. When the pseudo-random sequence is generated based on a mathematical or logical algorithm, the generation algorithm can adopt any mature pseudo-random sequence generation algorithm, but there is no obvious limit to the number of different pseudo-random sequences that the algorithm can generate. Therefore, the method of generating m-sequences and gold codes is not applicable in the pseudo-code generation of the present method. Suitable algorithms are for example: linear congruence method, inverse congruence method, etc. The code data management center records the ID of the deformation monitoring terminal, the ID of the cell to which the deformation monitoring terminal belongs and the pseudo code of the deformation monitoring terminal, and returns the pseudo code to the deformation monitoring terminal; and the deformation monitoring terminal sends a registration request to the cell deformation monitoring center according to the acquired network communication address, and simultaneously sends the self ID, the ID of the building where the deformation monitoring terminal is located and the pseudo code, and the cell deformation monitoring center records and returns a registration success message.

In this embodiment, when the distortion monitoring terminal is installed, the distortion monitoring terminal receives data fm broadcast signals sent by the distortion monitoring center and the code data management center, respectively, and after receiving a pseudo code allocated by the code data management center, registers the received signals with the distortion monitoring center. The pseudo code acquiring and registering process during installation of the deformation monitoring terminal improves the pseudo code management efficiency of the whole system and also ensures the service efficiency of the pseudo code.

In one embodiment, before the step of receiving the satellite text signal, the method further comprises: receiving a navigational positioning assistance enhancement system signal, the navigational positioning assistance enhancement system signal comprising: low earth orbit satellite navigation positioning auxiliary enhancement system signals or symbiotic navigation positioning and deformation monitoring positioning auxiliary enhancement system signals; acquiring auxiliary information for capturing satellite signals and differential correction information of the satellite signals according to the signals of the navigation positioning auxiliary enhancement system; the receiving satellite text signals comprises: acquiring satellite telegraph text signals according to the auxiliary information of the captured satellite signals and the initial position of the deformation monitoring terminal, wherein the initial position of the deformation monitoring terminal comprises a historical positioning position or the deformation monitoring center position; the acquiring of the positioning time service information of the deformation monitoring terminal according to the satellite telegraph text signal comprises the following steps: according to the satellite signal differential correction information, correcting the satellite telegraph text signal to obtain a corrected satellite telegraph text signal; and acquiring the position of the deformation monitoring terminal and the time service information of the deformation monitoring terminal according to the corrected satellite telegraph text signal.

Specifically, in order to meet the requirement for deformation monitoring of a building, the positioning result of each deformation monitoring terminal needs to reach higher precision, and the precision standard can be determined according to the deformation monitoring requirement, for example, the error of the three-axis position in the ECEF coordinate system does not exceed 1 mm. The precision requirement of deformation monitoring on data time is looser, the precision can be only within seconds, but the deformation monitoring is used as a pseudo satellite navigation positioning signal and needs to achieve higher time service precision, such as 10 ns. In order to achieve the positioning and timing accuracy, a navigation positioning auxiliary enhancement system, such as a low earth orbit satellite navigation positioning auxiliary enhancement system, a navigation positioning auxiliary enhancement system based on frequency modulation data broadcasting, and the like, can be adopted. The method comprises the steps that a deformation monitoring terminal receives signals of a navigation positioning auxiliary enhancement system, and auxiliary information including estimated satellite positions, time, frequency and the like when GNSS satellite signals are acquired and tracked is obtained through processing; and simultaneously processing to obtain differential correction information of each GNSS satellite signal. And the deformation monitoring terminal completes the acquisition and tracking of the GNSS satellite signals by adopting the existing acquisition and tracking algorithm according to the approximate position and the auxiliary information of the deformation monitoring terminal. The approximate position of the deformation monitoring terminal can adopt a historical positioning result, the position of the deformation monitoring center of the cell or the position of the nearest code data management center.

In this embodiment, before the deformation monitoring terminal receives the satellite telegraph text signal, the navigation positioning assistance enhancement system signal is first used to obtain the satellite signal assistance information and the differential correction information, and the self-position and the time service information of the deformation monitoring terminal are determined according to the assistance information and the differential correction information and the received satellite telegraph text signal. Because the navigation positioning auxiliary enhancement system signal is used, the positioning time service information of the deformation monitoring terminal is more accurate, and the deformation monitoring result of the deformation monitoring center and the navigation positioning result of the user navigation receiver are more accurate.

In one embodiment, the positioning time service information of the deformation monitoring terminal is sent to a deformation monitoring center and/or a user navigation receiver by using a data frequency modulation broadcast signal in a code division multiple access mode.

Specifically, the code division multiple access mode improves the information carrying capacity of data frequency modulation broadcast signals, and when each deformation monitoring terminal broadcasts and distributes self high-precision position and time information in the code division multiple access mode, because a plurality of deformation monitoring terminals need to be installed in the same building to achieve the purpose of deformation monitoring, in a relatively dense area of the building, the distribution of the deformation monitoring terminals can be very dense, so that signals of each deformation monitoring terminal need to be distinguished by a huge number of pseudo codes in the code division multiple access mode. The C/a code of a conventional GPS satellite signal is a gold code of 1023 length, coexisting in 1025 different sequences, sufficient to be allocated to all GPS satellites.

In this embodiment, the deformation monitoring terminal uses the code division multiple access method to send the positioning time service information of the deformation monitoring terminal by using the data fm broadcast signal, and further improves the information carrying capacity of the data fm broadcast signal by using the code division multiple access method on the basis of the data fm broadcast signal, thereby improving the information sending capacity of the deformation monitoring terminal, improving the accuracy of the deformation monitoring result of the deformation monitoring center, and also improving the accuracy of the navigation positioning result of the user navigation receiver.

Fig. 3 is a schematic flowchart of a pseudo code modulation co-generation navigation positioning and deformation monitoring method according to another embodiment, where the pseudo code modulation co-generation navigation positioning and deformation monitoring method shown in fig. 3 includes:

step S1, establishing a deformation monitoring coordinate system, wherein the deformation monitoring coordinate system is a three-dimensional coordinate system comprising height.

Specifically, a deformation monitoring coordinate system is established for each building, wherein the x axis points to the east, the y axis points to the north, and the z axis points to the upper space, so as to form a right-hand rectangular coordinate system, and the coordinates can be measured in meters and are accurate to millimeters.

Step S2, receiving a data frequency modulation broadcast signal sent by a deformation monitoring terminal, reading a pseudo code of the deformation monitoring terminal, demodulating the data frequency modulation broadcast signal, and acquiring positioning time service information of the deformation monitoring terminal, wherein the code length of the pseudo code is an integer power of 2, the code length is repeated by taking the integer power of 2 as a period, and the code length is a random sequence in a repetition period.

Specifically, the deformation monitoring center receives high-precision positioning time service information of each deformation monitoring terminal, demodulates the high-precision positioning time service information according to the pseudo code of each deformation monitoring terminal, acquires the positioning time service information of the deformation monitoring terminals, and classifies and stores the positioning time service information according to different buildings so as to facilitate processing.

And step S3, converting the coordinate system of the positioning and time service information of the deformation monitoring terminal into the deformation monitoring coordinate system, and acquiring the position of the conversion deformation monitoring terminal.

Specifically, for high-precision position information of all deformation monitoring terminals on the same building, position coordinates in an ECEF coordinate system or an inertial coordinate system are converted into position coordinates in a deformation monitoring coordinate system. The advantage of adopting the deformation monitoring coordinate system is that the deformation of the building in the horizontal and vertical directions can be checked more intuitively.

And step S4, according to the position of the transformation deformation monitoring terminal, carrying out deformation monitoring on the building where the deformation monitoring terminal is located.

Specifically, the position of the building can be monitored by changing the position within a preset time interval after the coordinate system is converted. And the deformation monitoring center monitors the position change of different deformation monitoring terminals on the same building in real time and judges whether the building deforms or not.

In this embodiment, the deformation monitoring center demodulates the positioning time service information according to the received data fm broadcast signal and the read pseudo code of the deformation monitoring terminal by establishing a deformation monitoring coordinate system, performs coordinate system conversion, and performs analysis in a unified coordinate system on the position information sent by all the deformation monitoring terminals to perform deformation monitoring on the building. By adopting the deformation monitoring coordinate system, the deformation monitoring center can carry out normalized analysis on the information sent by a plurality of deformation monitoring terminals, thereby improving the efficiency of information processing and the accuracy of information processing. Due to the adoption of the pseudo code in the embodiment, the calculation amount of the deformation monitoring terminal is greatly reduced, and the calculation efficiency of the deformation monitoring system is improved.

In one embodiment, before the step of reading the pseudo code of the distortion monitoring terminal and demodulating the data fm broadcast signal, the method further includes: receiving a second registration request sent by a deformation monitoring terminal, wherein the second registration request carries an identification of the deformation monitoring terminal, an identification of a building to which the deformation monitoring terminal belongs and a pseudo code, and the pseudo code is distributed to the deformation monitoring terminal by a code data management center; recording the self identification of the monitoring terminal, the self attributive building identification of the deformation monitoring terminal and the pseudo code; and sending a registration success message to the deformation monitoring terminal.

In this embodiment, the deformation monitoring center manages a large number of deformation monitoring terminals, and the deformation monitoring center also manages a large number of deformation monitoring terminals that are added or withdrawn at any time, so as to better manage each deformation monitoring terminal in its coverage area, and the deformation monitoring center sends its own identifier, position coordinate information, and an identifier of the area where the deformation monitoring terminal is located and communication address information in a data frequency modulation broadcast signal manner, so that the deformation monitoring terminal that receives the broadcast signal registers in the deformation monitoring center, participates in the information interaction process of the whole system, and can improve the overall efficiency of deformation monitoring.

In one embodiment, the monitoring deformation of the building where the deformation monitoring terminal is located includes: according to a preset first time interval, comparing the position of the conversion deformation monitoring terminal with the position of the conversion deformation monitoring terminal in a previous time interval in a second time interval to obtain a first difference value, wherein the first time interval is smaller than a second event interval; and when the first difference value is larger than or equal to a deformation threshold value, sending an alarm of the deformation of the building.

Specifically, the position coordinates of each deformation monitoring terminal are monitored in a short-term and a long-term mode simultaneously:

1) short-term monitoring: refers to the monitoring of the deformation of a building in one day. Each time a predetermined time interval Δ t has elapsed_s(short time intervals such as 10s and 1min are used here) all deformation monitoring positions are processed, reference data before a period of time (such as 1h) are compared, and when the position coordinate change exceeds a preset threshold value (such as 5mm), quick deformation alarm information is sent out and reported to relevant departments or personnel for processing.

2) And (3) long-term monitoring: refers to the monitoring of the deformation of buildings over several years. Each time a predetermined time interval Δ t has elapsed_l(here, a longer time interval such as 1 month) processes all deformation monitoring positions, compares reference data before a period of time (such as 5 years), and when the position coordinate change exceeds a preset threshold value (such as 10cm), sends out slow deformation alarm information and reports the information to relevant departments or personnel for processing.

In this embodiment, the deformation monitoring center obtains a difference value by comparing the position of the transformation deformation monitoring terminal with the position of the transformation deformation monitoring terminal at the previous time interval in the second time interval according to the preset first time interval, performs deformation monitoring on the building, and can perform short-term monitoring or long-term monitoring on the building with different requirements by setting the first time interval and the second time interval, thereby satisfying different monitoring requirements of different buildings.

Fig. 4 is a schematic flowchart of a pseudo code modulation co-generation navigation positioning and deformation monitoring method according to another embodiment, where the pseudo code modulation co-generation navigation positioning and deformation monitoring method shown in fig. 4 includes:

step S100, acquiring initial positioning information and acquiring the initial position of the user navigation receiver, wherein the initial positioning information comprises satellite positioning information or mobile network positioning information.

Specifically, when the user navigation receiver can directly perform positioning through GNSS satellite signals, the positioning result can be used as an initial rough position; when the user navigation receiver can monitor the CellID of the mobile communication cellular network, the Cell ID corresponding to the Cell ID can be used as the initial rough location. Both methods have been achieved by established methods. In addition, the user navigation receiver can search the nearby cell management center signal, and select the position information which has the maximum signal intensity and the highest signal-to-noise ratio to obtain as the initial rough position of the user navigation receiver.

Step S200, sending the initial position of the user navigation receiver to a code data management center, and requesting the code data management center for a pseudo code range of a deformation monitoring terminal in the area where the initial position of the user navigation receiver is located, wherein the code data management center manages pseudo code information of the deformation monitoring terminal, the code length of the pseudo code is an integral power of 2, the period is repeated by taking the integral power of 2, and the period is a random sequence in a repeating period.

Specifically, the code data management center is responsible for coding management of the deformation monitoring terminals, and the code data management center can be responsible for network access, logout and pseudo code information management of the deformation monitoring terminals due to the large number of the deformation monitoring terminals. And the code data management center receives the request, and screens the deformation monitoring terminals in a circular range from the database by taking the rough position of the user navigation receiver as the circle center and the farthest coverage distance d of the deformation monitoring terminal signal as the radius.

And step S300, receiving the pseudo code range sent by the code data management center.

And step S400, capturing deformation monitoring terminal positioning time service information sent by the deformation monitoring terminals in the pseudo code range according to the pseudo code range.

Specifically, the user navigation receiver can receive and demodulate the positioning time service information sent by the deformation monitoring terminal in a more targeted manner according to the received pseudo code range.

And S500, performing navigation positioning according to the positioning time service information of the deformation monitoring terminal.

Fig. 5 is a schematic flowchart of a pseudo code modulation co-generation navigation positioning and deformation monitoring method according to another embodiment, where the pseudo code modulation co-generation navigation positioning and deformation monitoring method shown in fig. 5 includes:

step S100a, receiving a first registration request sent by a deformation monitoring terminal, where the first registration request carries an identifier of the deformation monitoring terminal and an identifier of a home area of the deformation monitoring terminal.

Specifically, after receiving a first registration request sent by a deformation monitoring terminal, a code data management center acquires an ID of the deformation monitoring terminal carried therein and a cell ID of a cell to which the deformation monitoring terminal belongs.

Step S200a, generating a pseudo code for the deformation monitoring terminal, wherein the code length of the pseudo code is an integer power of 2, the pseudo code is repeated by taking the integer power of 2 as a period, and the pseudo code is a random sequence in a repetition period.

Specifically, the conventional GPS signal acquisition algorithm includes a linear acquisition algorithm, a parallel frequency acquisition algorithm, a parallel code phase acquisition algorithm, and the like, wherein the parallel code phase algorithm has the highest acquisition efficiency because of parallel search of a frequency domain and a code phase at the same time.

One key step involved in this algorithm is to perform a Discrete Fourier Transform (DFT) on the code sequence, which is computationally expensive. One efficient calculation method is to reduce the number of multiplications and additions using Fast Fourier Transforms (FFTs), thereby reducing the amount of calculations.

Two periodic sequences x (N) and y (N) of length N are related as follows:

its discrete fourier transform:

for the same discrete signal x (k), k 1,2ⁿDFT requires 2 in total²ⁿA second addition sum of 2²ⁿMultiplication time, and FFT requires n2ⁿThe sub-addition sum n2^n-1The multiplication time reduces the amount of calculation to an exponential level.

The code length of the traditional GPS signal C/A code is 1023, which is calculated according to a sampling point of a half chip, 2046 sampling points are totally calculated, the FFT requires the signal length to be an integer power of 2, and 4096-point FFT is adopted for zero filling to ensure no aliasing. And the length proposed by the present invention is 2ⁿThe pseudo code of (2) takes 1024 length as an example, and 2048-point FFT can be directly adopted when one sampling point is formed in each half chip.

The random sequence may be a pseudo-random sequence generated based on a mathematical or logical algorithm, or a true random sequence generated based on a computer system or circuit device as a true random source. The random sequence needs to satisfy the following characteristics: the autocorrelation is good; uncorrelated with other random sequences that have been used as pseudo-codes.

When the pseudo-random sequence is generated based on a mathematical or logical algorithm, the generation algorithm can adopt any mature pseudo-random sequence generation algorithm, but there is no obvious limit to the number of different pseudo-random sequences that the algorithm can generate. Therefore, the method of generating m-sequences and gold codes is not applicable in the pseudo-code generation of the present method. Suitable algorithms include linear congruence, inverse congruence, and the like.

Step S300a, calculating a correlation between the pseudo code and each pseudo code in the area where the area identifier of the deformation monitoring terminal itself belongs to, and obtaining a correlation coefficient.

Specifically, a traditional mature algorithm for calculating the correlation coefficient is adopted.

Step S400a, when the correlation coefficient is smaller than the correlation threshold, the pseudo code is sent to the deformation monitoring terminal.

Specifically, if a strong correlation with each of the pseudo codes being used by the same cell is detected, the pseudo codes need to be regenerated.

In this embodiment, the code data management center dynamically allocates the pseudo codes to the deformation monitoring terminals according to the requests of the deformation monitoring terminals, the generation process is very convenient, and the number of the generated codes is not limited by the generation rule of the golden codes.

Fig. 7 is a schematic structural diagram of a deformation monitoring terminal according to an embodiment, where the deformation monitoring terminal shown in fig. 7 includes:

a satellite message signal receiving module 10, configured to receive a satellite message signal; and the system is also used for acquiring satellite telegraph text signals according to the auxiliary information of the captured satellite signals and the initial position of the deformation monitoring terminal, wherein the initial position of the deformation monitoring terminal comprises a historical positioning position or the deformation monitoring center position.

A deformation monitoring terminal positioning time service information obtaining module 20, configured to obtain deformation monitoring terminal positioning time service information according to the satellite telegraph text signal, where the deformation monitoring terminal positioning time service information includes: the self position of the deformation monitoring terminal and the time service information of the deformation monitoring terminal; the satellite message signal processing module is also used for correcting the satellite message signal according to the satellite signal differential correction information to obtain a corrected satellite message signal; and acquiring the position of the deformation monitoring terminal and the time service information of the deformation monitoring terminal according to the corrected satellite telegraph text signal.

And the pseudo code modulation module 30 is configured to modulate the positioning time service information of the deformation monitoring terminal by using a pseudo code, and acquire pseudo code modulation information, where the code length of the pseudo code is an integer power of 2, the pseudo code is repeated with the integer power of 2 as a period, and a random sequence is in a repetition period.

And the pseudo code modulation information sending module 40 is configured to send the pseudo code modulation information to a deformation monitoring center and/or a user navigation receiver by using a data frequency modulation broadcast signal, so that the deformation monitoring center performs deformation monitoring on a building where the deformation monitoring terminal is located, and/or the user navigation receiver performs navigation positioning.

The receiving and demodulating module 50 is configured to receive and demodulate a first data fm broadcast signal sent by a deformation monitoring center and a second data fm broadcast signal sent by a code data management center, acquire a region identifier where the deformation monitoring center is located in the first data fm broadcast signal and a communication address of the deformation monitoring center, and acquire a communication address of the code data management center in the second data fm broadcast signal; the pseudo code is used for receiving the pseudo code sent by the code data management center; and the method is also used for receiving a registration success message sent by the deformation monitoring center.

The information configuration module 60 is configured to configure an identifier of an area to which the deformation monitoring terminal belongs according to the identifier of the area to which the deformation monitoring center is located; and configuring the building identification of the deformation monitoring terminal according to the building identification.

A sending module 70, configured to send a first registration request to the code data management center according to the communication address of the code data management center, where the first registration request carries an identifier of a deformation monitoring terminal and an identifier of an area to which the deformation monitoring terminal belongs; and the system is further used for sending a second registration request to the deformation monitoring center according to the communication address of the deformation monitoring center, wherein the second registration request carries the identification of the deformation monitoring terminal, the identification of the building to which the deformation monitoring terminal belongs and the pseudo code.

An assist enhancement system signal receiving module 80, configured to receive a navigation positioning assist enhancement system signal, where the navigation positioning assist enhancement system signal includes: and the low earth orbit satellite navigation positioning auxiliary enhancement system signal or the symbiotic navigation positioning and deformation monitoring positioning auxiliary enhancement system signal.

And an auxiliary and differential information obtaining module 90, configured to obtain satellite signal acquisition auxiliary information and satellite signal differential correction information according to the navigation positioning auxiliary enhancement system signal.

And the deformation monitoring terminal is used for positioning a time service information acquisition module.

In this embodiment, through the deformation monitoring terminals arranged at different positions of the building, the self position information and the time service information are obtained by receiving satellite text signals, the positioning time service information of the deformation monitoring terminals is obtained, and the positioning time service information of the deformation monitoring terminals is sent to a deformation monitoring center and/or a user navigation receiver by using data frequency modulation broadcast signals, so that the deformation monitoring center performs deformation monitoring on the building where the deformation monitoring terminals are located, and/or the user navigation receiver performs navigation positioning. The data frequency modulation broadcast signal sent by the deformation monitoring terminal in the embodiment can be used for monitoring the deformation of the building, and can also be used for navigation and positioning of a user navigation receiver. Meanwhile, the pseudo code used in the embodiment takes the integer power of 2 as the code length, so that the code phase can be conveniently and rapidly captured in parallel by adopting a fast Fourier transform algorithm, and the calculation amount is greatly reduced. When the deformation monitoring terminal is installed, the deformation monitoring terminal respectively receives data frequency modulation broadcast signals sent by the deformation monitoring center and the code data management center, and after receiving the pseudo codes distributed by the code data management center, the deformation monitoring terminal registers the received pseudo codes to the deformation monitoring center. The pseudo code obtaining and registering process during installation of the deformation monitoring terminal provided by the embodiment improves the pseudo code management efficiency of the whole system and also ensures the use efficiency of the pseudo code. Before the deformation monitoring terminal receives satellite telegraph text signals, satellite signal auxiliary information and differential correction information are obtained by using navigation positioning auxiliary enhancement system signals, and the self position and time service information of the deformation monitoring terminal are determined according to the auxiliary information and the differential correction information and the received satellite telegraph text signals. Because the navigation positioning auxiliary enhancement system signal is used, the positioning time service information of the deformation monitoring terminal is more accurate, and the deformation monitoring result of the deformation monitoring center and the navigation positioning result of the user navigation receiver are more accurate.

Fig. 8 is a schematic structural diagram of a deformation monitoring center according to an embodiment, where the deformation monitoring center shown in fig. 8 includes:

the deformation monitoring coordinate system establishing module 1 is used for establishing a deformation monitoring coordinate system, and the deformation monitoring coordinate system is a three-dimensional coordinate system comprising height.

The positioning time service information acquisition module 2 is used for receiving a data frequency modulation broadcast signal sent by a deformation monitoring terminal, reading a pseudo code of the deformation monitoring terminal, demodulating the data frequency modulation broadcast signal, and acquiring positioning time service information of the deformation monitoring terminal, wherein the code length of the pseudo code is an integer power of 2, the integer power of 2 is used as a cycle repetition, and a random sequence is formed in a repetition cycle.

And the coordinate system conversion module 3 is used for converting the coordinate system of the positioning and time service information of the deformation monitoring terminal into the deformation monitoring coordinate system and acquiring the position of the conversion deformation monitoring terminal.

And the deformation monitoring module 4 is used for monitoring the deformation of the building where the deformation monitoring terminal is located according to the position of the conversion deformation monitoring terminal. The system is further used for comparing the position of the conversion deformation monitoring terminal with the position of the conversion deformation monitoring terminal in the previous time interval in a second time interval according to a preset first time interval to obtain a first difference value, wherein the first time interval is smaller than a second event interval; and when the first difference value is larger than or equal to a deformation threshold value, sending an alarm of the deformation of the building.

And the second registration request receiving module 5 is configured to receive a second registration request sent by the deformation monitoring terminal, where the second registration request carries an identifier of the deformation monitoring terminal, an identifier of a building to which the deformation monitoring terminal belongs, and a pseudo code, and the pseudo code is distributed to the deformation monitoring terminal by a code data management center.

And the recording module 6 is used for recording the self identification of the monitoring terminal, the self belonged building identification of the deformation monitoring terminal and the pseudo code.

And the registration success message sending module 7 is configured to send a registration success message to the deformation monitoring terminal.

In this embodiment, the deformation monitoring center demodulates the positioning time service information according to the received data fm broadcast signal and the read pseudo code of the deformation monitoring terminal by establishing a deformation monitoring coordinate system, performs coordinate system conversion, and performs analysis in a unified coordinate system on the position information sent by all the deformation monitoring terminals to perform deformation monitoring on the building. By adopting the deformation monitoring coordinate system, the deformation monitoring center can carry out normalized analysis on the information sent by a plurality of deformation monitoring terminals, thereby improving the efficiency of information processing and the accuracy of information processing. Due to the adoption of the pseudo code in the embodiment, the calculation amount of the deformation monitoring terminal is greatly reduced, and the calculation efficiency of the deformation monitoring system is improved. When the deformation monitoring terminal is newly installed, the deformation monitoring terminal is registered in the deformation monitoring center, the registration information carries pseudo code information, the registration process of the deformation monitoring terminal is convenient for the unified management of the deformation monitoring center, and the overall efficiency of deformation monitoring can be improved. And the deformation monitoring center compares the self position of the transformation deformation monitoring terminal with the self position of the last time interval in the second time interval according to a preset first time interval and then acquires a difference value, so that the deformation monitoring is carried out on the building, and the short-term monitoring or the long-term monitoring of different requirements can be carried out on the building by setting the first time interval and the second time interval, thereby meeting different monitoring requirements of different buildings.

Fig. 9 is a schematic structural diagram of a user navigation receiver according to an embodiment, where the user navigation receiver shown in fig. 9 includes:

an initial positioning information obtaining module 100, configured to obtain initial positioning information, which includes satellite positioning information or mobile network positioning information, and obtain an initial position of the user navigation receiver.

The pseudo code range request module 200 is configured to send the initial position of the user navigation receiver to a code data management center, and request the pseudo code range of a deformation monitoring terminal in an area where the initial position of the user navigation receiver is located from the code data management center, where the code data management center manages pseudo code information of the deformation monitoring terminal, a code length of the pseudo code is an integer power of 2, the pseudo code is repeated with the integer power of 2 as a cycle, and the pseudo code is a random sequence in a repetition cycle.

A pseudo code range receiving module 300, configured to receive the pseudo code range sent by the code data management center.

And the positioning time service information acquisition module 400 is configured to capture, according to the pseudo code range, the deformation monitoring terminal positioning time service information sent by the deformation monitoring terminal in the pseudo code range.

And the navigation positioning module 500 is used for performing navigation positioning according to the positioning time service information of the deformation monitoring terminal.

In this embodiment, the user navigation receiver requests the code data management center for the pseudo code range, and captures the positioning time service information sent by the deformation monitoring terminal within the range of the initial position of the user navigation receiver, so that the user navigation receiver can capture the positioning time service information more efficiently and accurately, and the positioning result is more accurate. The requirement of the pseudo code range avoids the excessively large number of pseudo codes needing to be captured.

Fig. 10 is a schematic structural view of a code data management center according to an embodiment, and the code data management center shown in fig. 10 includes:

the first registration request obtaining and receiving module 100a is configured to receive a first registration request sent by a deformation monitoring terminal, where the first registration request carries an identifier of the deformation monitoring terminal and an identifier of an area to which the deformation monitoring terminal belongs.

The pseudo code generating module 200a is configured to generate a pseudo code for the deformation monitoring terminal, where the code length of the pseudo code is an integer power of 2, the pseudo code is repeated with the integer power of 2 as a cycle, and the pseudo code is a random sequence in a cycle of repetition.

The correlation determination module 300a is configured to calculate a correlation between the pseudo code and each pseudo code in an area where the area identifier of the deformation monitoring terminal itself belongs to, and obtain a correlation coefficient.

A pseudo code sending module 400a, configured to send the pseudo code to the deformation monitoring terminal when the correlation coefficient is smaller than a correlation threshold.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A pseudo code modulation symbiotic navigation positioning and deformation monitoring method is characterized by comprising the following steps:

receiving satellite telegraph text signals;

and transmitting the pseudo code modulation information to a deformation monitoring center and/or a navigation receiver by using a data frequency modulation broadcast signal so that the deformation monitoring center carries out deformation monitoring on a building where the deformation monitoring terminal is located and/or the navigation receiver carries out navigation positioning.

2. The pseudo-code modulation symbiotic navigation positioning and deformation monitoring method according to claim 1, wherein before the step of modulating the positioning time service information of the deformation monitoring terminal by using the pseudo-code, the method further comprises:

acquiring an area identifier of a deformation monitoring center, a communication address of the deformation monitoring center and a communication address of a code data management center;

configuring a self-attributive area identifier of a deformation monitoring terminal and a self-attributive building identifier of the deformation monitoring terminal;

receiving a pseudo code sent by the code data management center;

3. The pseudo-code modulation symbiotic navigation positioning and deformation monitoring method according to claim 2, characterized in that:

the acquiring of the area identifier where the deformation monitoring center is located, the communication address of the deformation monitoring center and the communication address of the code data management center comprises the following steps:

the configuration of the self-attribution area identification of the deformation monitoring terminal and the self-attribution building identification of the deformation monitoring terminal comprises the following steps:

configuring the identifier of the attributive area of the deformation monitoring terminal according to the identifier of the area where the deformation monitoring center is located; and configuring the building identification of the deformation monitoring terminal according to the building identification.

4. The pseudo-code modulation co-generated navigation positioning and deformation monitoring method according to claim 1, wherein prior to the step of receiving satellite text signals, the method further comprises:

the receiving satellite text signals comprises:

5. A pseudo code modulation symbiotic navigation positioning and deformation monitoring method is characterized by comprising the following steps:

and according to the position of the conversion deformation monitoring terminal, deformation monitoring is carried out on the building where the deformation monitoring terminal is located, and a navigation receiver carries out navigation positioning according to the positioning time service information of the conversion deformation monitoring terminal.

6. The pseudo-code modulation co-occurrence navigation positioning and deformation monitoring method according to claim 5, wherein before the step of reading the pseudo-code demodulation data FM broadcast signal of the deformation monitoring terminal, the method further comprises:

7. The pseudo-code modulation co-occurrence navigation positioning and deformation monitoring method according to claim 5, wherein the deformation monitoring of the building where the deformation monitoring terminal is located comprises:

8. A pseudo code modulation symbiotic navigation positioning and deformation monitoring method is characterized by comprising the following steps:

acquiring initial positioning information and acquiring the initial position of a navigation receiver, wherein the initial positioning information comprises satellite positioning information or mobile network positioning information;

sending the initial position of the navigation receiver to a code data management center, and requesting the code data management center for the pseudo code range of a deformation monitoring terminal in the area of the initial position of the navigation receiver, wherein the code data management center manages the pseudo code information of the deformation monitoring terminal, the code length of the pseudo code is an integral power of 2, the cycle is repeated by taking the integral power of 2 as a cycle, and the code length is a random sequence in a repeating cycle;

receiving a pseudo code range sent by the code data management center;

and carrying out deformation monitoring on the building where the deformation monitoring terminal is located according to the positioning time service information of the deformation monitoring terminal, and/or carrying out navigation positioning on the navigation receiver.

9. A pseudo code modulation symbiotic navigation positioning and deformation monitoring method is characterized by comprising the following steps:

and when the correlation coefficient is smaller than a correlation threshold value, sending the pseudo code to the deformation monitoring terminal so that the deformation monitoring terminal carries out deformation monitoring on the building where the deformation monitoring terminal is located, and enabling a navigation receiver to receive positioning time service information of the deformation monitoring terminal according to the pseudo code so as to carry out navigation positioning.

10. A deformation monitoring terminal, comprising:

and the pseudo code modulation information sending module is used for sending the pseudo code modulation information to a deformation monitoring center and/or a navigation receiver by using a data frequency modulation broadcast signal so that the deformation monitoring center carries out deformation monitoring on a building where the deformation monitoring terminal is located and/or the navigation receiver carries out navigation positioning.

11. The deformation monitoring terminal of claim 10, further comprising:

the receiving and demodulating module is used for acquiring an area identifier where the deformation monitoring center is located, a communication address of the deformation monitoring center and a communication address of a code data management center;

the information configuration module is used for configuring the identifier of the attributive area of the deformation monitoring terminal and the identifier of the attributive building of the deformation monitoring terminal;

12. The deformation monitoring terminal of claim 11, wherein:

the receiving and demodulating module is further used for receiving and demodulating a first data frequency modulation broadcast signal sent by a deformation monitoring center and a second data frequency modulation broadcast signal sent by a code data management center, acquiring an area identifier of the deformation monitoring center in the first data frequency modulation broadcast signal and a communication address of the deformation monitoring center, and acquiring a communication address of the code data management center in the second data frequency modulation broadcast signal;

the information configuration module is also used for configuring the identifier of the home area of the deformation monitoring terminal according to the identifier of the area where the deformation monitoring center is located; and configuring the building identification of the deformation monitoring terminal according to the building identification.

13. The deformation monitoring terminal of claim 10, further comprising:

14. A deformation monitoring center, comprising:

and the deformation monitoring module is used for carrying out deformation monitoring on the building where the deformation monitoring terminal is located according to the position of the conversion deformation monitoring terminal, and enabling the navigation receiver to carry out navigation positioning according to the positioning time service information of the conversion deformation monitoring terminal.

15. The deformation monitoring center of claim 14, further comprising:

16. The deformation monitoring center of claim 14, wherein the deformation monitoring module is further configured to:

17. A navigation receiver, comprising:

the navigation receiver comprises an initial positioning information acquisition module, a navigation information acquisition module and a navigation information acquisition module, wherein the initial positioning information acquisition module is used for acquiring initial positioning information and acquiring the initial position of the navigation receiver, and the initial positioning information comprises satellite positioning information or mobile network positioning information;

the system comprises a pseudo code range request module, a code data management center and a navigation receiver, wherein the pseudo code range request module is used for sending the initial position of the navigation receiver to the code data management center and requesting the pseudo code range of a deformation monitoring terminal in the area where the initial position of the navigation receiver is located to the code data management center, the code data management center manages the pseudo code information of the deformation monitoring terminal, the code length of the pseudo code is an integral power of 2, the cycle is repeated by taking the integral power of 2, and a random sequence is formed in a repeating cycle;

and the navigation positioning module is used for carrying out deformation monitoring on the building where the deformation monitoring terminal is located according to the positioning and time service information of the deformation monitoring terminal and/or enabling the navigation receiver to carry out navigation positioning.

18. A code data management center, comprising:

and the pseudo code sending module is used for sending the pseudo code to the deformation monitoring terminal when the correlation coefficient is smaller than a correlation threshold value, so that the deformation monitoring terminal carries out deformation monitoring on a building where the deformation monitoring terminal is located, and a navigation receiver receives positioning time service information of the deformation monitoring terminal according to the pseudo code to carry out navigation positioning.