CN107607032A - A kind of GNSS deformation monitoring systems - Google Patents
A kind of GNSS deformation monitoring systems Download PDFInfo
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- CN107607032A CN107607032A CN201710994466.1A CN201710994466A CN107607032A CN 107607032 A CN107607032 A CN 107607032A CN 201710994466 A CN201710994466 A CN 201710994466A CN 107607032 A CN107607032 A CN 107607032A
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Abstract
The invention discloses a kind of GNSS deformation monitoring systems.The GNSS deformation monitoring systems of the present invention, at least one first data reception module, at least one second data reception module, decoder module, data selecting module and processing module, first reception data and second are obtained by the first data reception module and the second data reception module respectively and receive data, it is decoded as the first input data and the second input data respectively by decoder module again, and after being grouped by data selecting module to the second input data, the method that processing module is combined using single poor mode and double difference mode carries out resolving acquisition optimal solution.The GNSS deformation monitoring systems of the present invention, the method combined by using single poor mode and double difference mode resolve receiver observation data, it is possible to increase to the calculation accuracy of test point deflection.
Description
Technical field
The present invention relates to satellite positioning navigation technical field, more particularly to a kind of GNSS deformation monitoring systems.
Background technology
With the development of GPS, Technique of Satellite Navigation and Positioning is in military affairs, traffic, mapping, communication, time
Comparison, atmospheric research etc. have obtained more deep application.
Due to utilizing global navigational satellite system (English full name：Global Navigation Satellite System, English
Text abbreviation：GNSS the technology) positioned, have observation the limitation of climate condition, intervisibility need not kept between survey station, can be simultaneously
The advantages that three-D displacement and high automaticity of measuring point, thus not only in plate motion, sea level variability and regional area
Crustal deformation etc. is a wide range of, is widely used in monitoring project of long range, and for small range, short distance,
The monitoring of the geological disasters such as the deformation monitoring and landslip of high-precision engineering works provides a kind of new effective hand
Section, so as to progressively instead of ground based radio navigation, traditional geodesic survey and astronomical surveing navigator fix technology.
Deformation monitoring (deformation monitoring) is one and the object for sending deformation is grown using precision instrument and professional method
The work that the observation of time checks, while corresponding prediction and analysis will be also made to the object deformed upon.GNSS deformation is supervised
(GNSS deformation monitorings) is surveyed i.e. using the location technology using GNSS, is added by carrying out processing solution to receiver observation data
Row deformation monitoring.
Generally, receiver observation data are used for resolving three kinds of modes of generally use, are single poor, double difference, three respectively
Poor mode, three poor modes resolve receiver observation data also fewer application in addition in specific purposes, in the prior art
Commonly used is that double difference mode resolves receiver observation data, and obtained double difference phase measurement is a kind of relative for realizing
The vital measurements of positioning.
But either single poor mode or double difference mode resolve receiver observation data.All have certain disadvantages.Tool
Body, single poor mode resolves receiver observation data, due to wide lane UPD be present, causes to resolve receiver observation with double difference mode
Data are compared, and are taken in terms of fuzziness fixation longer.Although double difference mode resolves receiver observation data and single poor mode solution
Calculate receiver observation data to compare, fixed fuzziness determination is time-consuming shorter, but the solution in terms of relative positioning elevation angle is carried out
Precision is poor during calculation.
The problem of receiver observation data being resolved for the poor mode of existing list and double difference mode, it is desirable to provide one kind can
Overcome the GNSS deformation monitoring systems of disadvantages mentioned above.
The content of the invention
To solve the above problems, the present invention provides a kind of GNSS deformation monitoring systems, by using single poor mode and double difference
The method that mode combines resolves receiver observation data, it is possible to increase to the calculation accuracy of test point deflection.
To achieve the above object, a kind of GNSS deformation monitoring systems of the invention, including：
At least one first data reception module, each first data reception module, which receives, comes self-corresponding monitoring point or base
The one first reception data at quasi- station；
At least one second data reception module, each second data reception module, which receives, comes self-corresponding monitoring point or base
Multiple the second of quasi- station receive data；
Decoder module, decoder module determine the first corresponding input data, and root respectively according to the first reception data
The second corresponding input data is determined respectively according to the second reception data；
Whether data selecting module, data selecting module receive number by the reception of same second data reception module according to second
Corresponding second input data is grouped；And
Processing module, processing module resolve the single poor solution of acquisition to the input data of each group second using single poor mode, while right
Each first input data is resolved using double difference mode and obtains double difference solution；Also,
Processing module determines optimal solution according to single poor solution and double difference solution.
Further, the method that decoder module determines the first corresponding input data respectively according to the first reception data
For：First reception data are decoded into the first observation data and the first navigation message, any first observation data and corresponding
The first navigation message form the first input data；Decoder module determines corresponding second respectively according to the second reception data
The method of input data is：Second reception data are decoded into the second observation data and the second navigation message, any second observation
Data and the second corresponding navigation message form the second input data.
Further, in addition to correcting module, correcting module determine the first correction data, and root according to the first reception data
The second correction data are determined according to the second reception data.
Further, the first correction data can also be decoded into the first differential data, the first input data by decoder module
Also include the first corresponding differential data；Second correction data are decoded into the second differential data, the second input data is also
Including the second corresponding differential data.
Further, the first data reception module is single antenna receiver, and the second data reception module is that clock is synchronous more
Aerial receiver.
Further, processing module includes multiple computing units, and the quantity of computing unit is according to monitoring point and base station
Quantity determines；Computing unit determines double difference solution or single poor solution according to the first input data or the second input data respectively.
Further, processing module also includes optimal solution unit, and optimal solution unit is true according to single poor solution and double difference solution respectively
Order difference solution set and double difference solution set, and choose optimal solution in single poor solution set and double difference solution set.
Further, computing unit is respectively single poor Kalman Filtering module or double difference Kalman Filtering module.
Further, in addition to modeling module, modeling module determine the forecast model of monitoring point deformation quantity according to optimal solution.
Further, in addition to business logic modules, business logic modules determine corresponding prediction number according to forecast model
According to.
The GNSS deformation monitoring systems of the present invention, the first data reception module and the second data reception module point can be passed through
First it Huo Qu not receive data and second and receive data, then be decoded as by decoder module the first input data and second defeated respectively
Enter data, and after being grouped by data selecting module to the second input data, last processing module using single poor mode and
The method that double difference mode combines, which to the second input data after the first input data and packet resolve, obtains optimal solution.Due to
The second input data that second data reception module receives is resolved using single poor mode, therefore can improve the precision of resolving,
Then recycle the mode that single poor mode and double difference mode combine to resolve single poor solution set and double difference solution set, reduce
Fixed fuzziness takes.
Brief description of the drawings
Fig. 1 is the module diagram of the GNSS deformation monitoring systems of one embodiment of the invention；
Fig. 2 is the resolving schematic flow sheet of the processing module of the present invention；
Fig. 3 is the module diagram of the GNSS deformation monitoring systems of another embodiment of the present invention.
Embodiment
Below, it is further described with reference to accompanying drawing, structure and operation principle to the present invention etc..
As shown in figure 1, a kind of GNSS deformation monitoring systems of the present invention, including at least one first data reception module 1,
At least one second data reception module 2, decoder module 3, data selecting module 4 and processing module 5.
First data reception module 1 is used for one first reception data for receiving self-corresponding monitoring point or base station,
Second data reception module 2 is used for the multiple second receptions data for receiving self-corresponding monitoring point or base station, decoder module 3
The first corresponding input data can be determined respectively according to the first reception data, and determined respectively according to the second reception data
Whether the second corresponding input data, data selecting module 4 can be connect by same second data according to the second reception data
Receipts module 2 receives to be grouped to corresponding second input data, and processing module 5 can utilize single poor side to the input data of each group second
Formula, which resolves, obtains single poor solution, while each first input data is resolved using double difference mode and obtains double difference solution, then according to list
Difference solution and double difference solution determine optimal solution.
Wherein, the first data reception module 1 and the second data reception module 2 are mainly used for receiving monitoring point and base station
Observation data and maintenance transmitting navigation message, and these data are stored and transmission according to certain form.In the present invention
In embodiment, the first data reception module 1 is single antenna receiver, and the second data reception module 2 is that clock synchronization multiple antennas connects
Receipts machine.
And decoder module 3 mainly decodes to the first reception data and the second reception data received, it is reduced
Into the corresponding data that can be identified, in embodiments of the present invention, it is right with it that decoder module 3 determines respectively according to the first reception data
The method for the first input data answered is：First reception data are decoded into the first observation data and the first navigation message, it is any
First observation data and the first corresponding navigation message form the first input data；Decoder module 3 receives number according to second
It is according to the method for determining the second corresponding input data respectively：Second reception data are decoded into the second observation data and the
Two navigation messages, any second observation data and the second corresponding navigation message form the second input data.It can be seen that no matter
It is the observation data and navigation electricity that reception data from base station or from monitoring point are all decoded into recognizable GNSS
Text.
In order to improve the accuracy of monitoring result, correcting module can also be included in embodiments of the present invention.Wherein, correct
Module can determine the first correction data according to the first reception data, and determine the second correction data according to the second reception data,
Specifically, the first observation data and second that can be received according to the type of correcting module to first in data are received in data
Second observation data are modified, so as to obtain the first correction data and the second correction data.Specifically, with the first correction data
Determination method exemplified by, can by first receive data in first observation data and the first track station station data combine
Obtain the first correction data.Wherein, the first track station station data will be to the correction of pseudorange and carrier phase including current time
Value, therefore, corresponding pseudorange after the first observation data decoding and carrier phase can be added or subtracted corresponding corrected value,
Obtain the first correction data.
Now, the data that decoder module 3 receives also include the first correction data and the second correction data, therefore, decoding
Module 3 also needs to the first correction data being decoded into the first differential data, and the first input data is also known including corresponding
Other first differential data；Second correction data are decoded into the second differential data, the second input data also includes corresponding
The second recognizable differential data.
In embodiments of the present invention, processing module 5 be used for receive the first input data (including first observation data, first
Navigation message and the first differential data) and the second input data (including the second observation data, the second navigation message and the second difference
Data), monitoring point is then obtained by resolving and is used as output data relative to the relative position and covariance matrix of base station.
In order to which each group of data will not be interfered so as to improve the accuracy of result of calculation when ensureing to calculate, of the invention real
Apply in example, processing module 5 can include multiple computing units 6, and the quantity of computing unit 6 is according to monitoring point and the quantity of base station
It is determined that is, each base station and monitoring point are required for being calculated by a computing unit 6, therefore, the quantity of computing unit 6
Calculation formula is n=r × b, wherein, n is the quantity of computing unit 6, and r is the quantity of monitoring point, the quantity stood on the basis of b.Its
In, each computing unit 6 can determine according to corresponding first input data or one group of second input data respectively
Corresponding double difference solution or single poor solution, a computing unit 6 only correspond to first input data or one group of second input data.
In embodiments of the present invention, computing unit 6 is respectively single poor Kalman Filtering module or double difference Kalman Filtering module.Such as
Carry out using double difference Kalman Filtering module during Combined Calculation shown in Fig. 2, i.e., between single antenna receiver and single antenna receiver, when
Single poor Kalman filtering module is used when being resolved between the antenna of clock synchronization multi-aerial receiver.Single poor Kalman filtering mould
The main distinction between block and double difference Kalman Filtering module is in elevation direction singly poor Kalman Filtering and double difference Kalman Filtering phase
Than that can obtain higher precision, double difference Kalman Filtering is compared under existing fuzziness fixing means with single poor Kalman Filtering
The fixed solution of fuzziness can be obtained faster.If simply using single poor Kalman Filtering algorithm, (i.e. single poor mode is solved
Calculate), the time that the phase ambiguity fixation of single poor mode needs is longer, if only using double difference Kalman Filtering algorithm (i.e. double difference
Mode is resolved), although fuzziness is easily fixed, the error in elevation direction is larger.
Therefore, in order to when singly it is poor solution and double difference solution can preferably be merged, processing module 5 also includes optimal solution unit
7, optimal solution unit 7 determines single poor solution set and double difference solution set according to single poor solution and double difference solution respectively, and in single poor solution set
Optimal solution is determined with double difference solution set, the optimal solution is relative position solution (baseline) of each monitoring point to base station.Most
The effect of excellent solution unit 7 be single poor solution and double difference solution are carried out it is preferred, make double difference solution fuzziness can be used for it is single poor so that
The ambiguity resolution speed of single poor solution greatly improves, while improves precision of the part monitoring point in elevation direction.Determine optimal solution
Process mainly according to two aspect：One be fuzziness solution, the mould resolved according to single poor mode and double difference mode
The minimum variance optimum selecting of paste degree.One is double difference mode and single poor mode resolves the relative of the monitoring point drawn and base station
The minimum variance optimum selecting of position.Because double difference mode resolves, fixed fuzziness is fast, therefore the fuzziness for most starting to obtain
Fixed solution is substantially the solution of double difference Kalman filtering.But when being determined to relative position, in single poor mode and double difference side
When the solution of formula is more or less the same, for example difference is preferentially filtered no more than in the case of M (we typically take M=3) using single poor Kalman
The solution of ripple.
In embodiments of the present invention, the principle of used system and method are as follows：
System general principle used in Kalman filtering can be expressed with following mode：
The state equation and observational equation of known random signal to be estimated be：
Wherein, XkFor in tkThe state vector at moment；Xk-1For in tkThe state vector of previous moment；Φk,k-1For tk-1When
Carve to tkThe transfer matrix at moment；Γk-1Battle array is driven for system noise；WkFor system incentive noise sequence；HkTo measure battle array；VkFor
Measure noise sequence；ZkFor tkThe m at moment × 1 state observation is vectorial.
The statistical property of known noise is as follows：
Wherein, E is mathematic expectaion, QkAnd RkThe respectively variance matrix of dynamic noise and observation noise, δkiFor
Kronecker functions, that is, have
The calculating process of Kalman filtering can be calculated with following formula：
First, primary condition W is givenk=0, and assume there is initial value
So as to obtain a step status predication formula
Then prediction covariance matrix is calculated
And state estimation is carried out, so as to obtain
Calculate kalman gain matrix
Finally, covariance matrix is predicted after calculating renewal
Pk=(I-KkHk)Pk/k-1
Wherein, subscript T representing matrixs transposition, subscript -1 represents to invert, that is, inverse of a matrix.Known dynamical system exists
tk-1The state at momentWhen, if it is assumed that Wk-1=0, it is possible to calculate subsequent time tkState forecast value
Moment tkObservation data be Lk, predicted value is modified using this, obtains moment tkWhen system state estimationSuch as
This passes through recurrence calculation repeatedly, is finally reached the purpose of filtering.
We allow the poor solution of list of single poor Kalman Filtering and double difference Kalman Filtering and double difference solution to exchange each other's needs in actual operation,
As long as so there is the integer ambiguity that a kind of filtering mode can obtain some satellite, then also it is somebody's turn to do equivalent to another
The solution of fuzziness, wherein, double difference observational equation is
In formula,For double difference phase observation value；For the true double difference geometric distance of survey station to satellite；To be double
Poor integer ambiguity；For the troposphere residual error item after double difference；For the Ionosphere Residual Error item after double difference；For double difference
Orbit error residual error item afterwards；For multipath residual error；For measurement noise residual error.
Singly poor observational equation is
Δ φ=Δ ρ+Δ N+ Δ T- Δ I+ Δ R+M (Δ φ)+Δ φupd+ε(Δφ)
In formula, Δ φ is double difference phase observation value；Δ ρ is true double difference geometric distance of the survey station to satellite；Δ N is double difference
Integer ambiguity；Δ T is the troposphere residual error item after double difference；Δ I is the Ionosphere Residual Error item after double difference；Δ R is after double difference
Orbit error residual error item；M (Δ φ) is multipath residual error；ΔφupdFor the UPD differences of two antennas；ε (Δ φ) makes an uproar for measurement
Sound residual error.
As shown in figure 3, in an alternative embodiment of the invention, GNSS deformation monitoring systems can also include modeling module.Build
Mould module can determine the forecast model of monitoring station deformation quantity according to optimal solution, i.e., (optimal according to the output result of processing module 5
Solution) and the correlation properties of the physics of monitoring point, mathematics etc. be modeled.Wherein, modeling is main is come using fitting of a polynomial model
The function variable relation approached between the unknown deformation factor of form.For example, for engineering works, it can investigate and deform
The accumulated deformation value and the relation between the corresponding factor of influence such as time of some point in journey, due to using polynomial module
Type is fitted, and the exponent number n in multinomial model is not aware that in advance in fact, it is therefore desirable to is taken and is added that item is increased to be built to n rows
Mould method.Specifically since n=k=1, gradually raise, often increase just one order polynomial of fitting, and estimate coefficient
Statistical check is done with residual sum of squares (RSS), when the more high-order term for newly adding the time can not make it that residual sum of squares (RSS) is remarkably decreased, table
The multinomial of bright fitting has preferably expressed the relation of deflection and time, and the polynomial expression formula so obtained can
Preferable expression formula just and phase variable relation, due to multinomial, it is known that can also be used to the type variable in prediction future, as long as handle
Time substitutes into above-mentioned multinomial.
In an alternative embodiment of the invention, GNSS deformation monitoring systems can also include business logic modules, service logic
Module can determine corresponding prediction data according to forecast model.Such as it is put into according to operator and needs to provide various turns of data
Change form, the deflection at such as certain moment, time of fire alarming, stage deflection, data monitoring state.
In summary, the GNSS deformation monitoring systems of the embodiment of the present invention simultaneously there is single antenna receiver and multiple antennas to connect
Receipts machine, the method combined when resolving using single poor mode and double difference mode are resolved, and effectively overcome traditional deformation prison
Software is surveyed elevation deflection error is larger the problem of, and it is longer to solve the problems, such as that single difference algorithm fixes the fuzziness time.
More than, it is only schematic description of the invention, it will be recognized by those skilled in the art that in the work without departing from the present invention
On the basis of making principle, a variety of improvement can be made to the present invention, this belongs to protection scope of the present invention.
Claims (10)
- A kind of 1. GNSS deformation monitoring systems, it is characterised in that including：At least one first data reception module, each first data reception module, which receives, comes self-corresponding monitoring point or base The one first reception data at quasi- station；At least one second data reception module, each second data reception module, which receives, comes the self-corresponding monitoring point Or multiple the second of the base station receive data；Decoder module, the decoder module determine the first corresponding input data respectively according to the described first reception data, And the second corresponding input data is determined respectively according to the described second reception data；Whether data selecting module, the data selecting module are connect by same second data according to the described second reception data Module is received to receive to the corresponding second input data packet；AndProcessing module, the processing module resolve the single poor solution of acquisition to the second input data described in each group using single poor mode, together When to each first input data using double difference mode resolve obtain double difference solution；Also,The processing module determines optimal solution according to the poor solution of the list and the double difference solution.
- 2. GNSS deformation monitoring systems as claimed in claim 1, it is characterised in that the decoder module connects according to described first Receive data and determine that the method for the first corresponding input data is respectively：Described first reception data are decoded into the first observation It is defeated that data and the first navigation message, any first observation data and corresponding first navigation message form first Enter data；The method that the decoder module determines the second corresponding input data respectively according to the described second reception data For：Described second reception data are decoded into the second observation data and the second navigation message, any second observation data and Corresponding second navigation message forms the second input data.
- 3. GNSS deformation monitoring systems as claimed in claim 2, it is characterised in that also including correcting module, the amendment mould Root tuber determines the first correction data according to the described first reception data, and determines the second correction according to the described second reception data According to.
- 4. GNSS deformation monitoring systems as claimed in claim 3, it is characterised in that the decoder module can also be by described Change correction data and be decoded into the first differential data, first input data also includes corresponding the first difference number According to；Described second correction data are decoded into the second differential data, second input data also includes corresponding described Second differential data.
- 5. GNSS deformation monitoring systems as claimed in claim 1, it is characterised in that first data reception module is Dan Tian Line receiver, second data reception module are clock synchronization multi-aerial receiver.
- 6. GNSS deformation monitoring systems as claimed in claim 1, it is characterised in that it is single that the processing module includes multiple calculating Member, the quantity of the computing unit determine according to the quantity of the monitoring point and the base station；The computing unit distinguishes root The double difference solution or the poor solution of the list are determined according to first input data or second input data.
- 7. GNSS deformation monitoring systems as claimed in claim 6, it is characterised in that the processing module also includes optimal solution list Member, the optimal solution unit determine single poor solution set and double difference solution set according to the poor solution of the list and the double difference solution respectively, and The optimal solution is chosen in the poor solution set of the list and the double difference solution set.
- 8. GNSS deformation monitoring systems as claimed in claim 6, it is characterised in that the computing unit is respectively single poor Kaman Filtration module or double difference Kalman Filtering module.
- 9. GNSS deformation monitoring systems as claimed in claim 1, it is characterised in that also including modeling module, the modeling mould Root tuber determines the forecast model of monitoring point deformation quantity according to the optimal solution.
- 10. GNSS deformation monitoring systems as claimed in claim 9, it is characterised in that also including business logic modules, the industry Business logic module determines corresponding prediction data according to the forecast model.
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| CN109443188A (en) * | 2018-09-29 | 2019-03-08 | 桂林电子科技大学 | A kind of double-layer multi-dimensional landslide monitoring method |
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| CN110260774B (en) * | 2019-07-22 | 2022-03-08 | 安徽理工大学 | GNSS deformation information inspection and early warning method based on Pettitt algorithm |
| CN110456397A (en) * | 2019-07-29 | 2019-11-15 | 桂林电子科技大学 | A kind of multiple antennas ultra-short baseline positioning and monitoring method, device and storage medium |
| CN110456397B (en) * | 2019-07-29 | 2021-02-09 | 桂林电子科技大学 | Multi-antenna ultra-short baseline positioning monitoring method and device and storage medium |
| CN114757238A (en) * | 2022-06-15 | 2022-07-15 | 武汉地铁集团有限公司 | Method and system for monitoring deformation of subway protection area, electronic equipment and storage medium |
| CN114757238B (en) * | 2022-06-15 | 2022-09-20 | 武汉地铁集团有限公司 | Method and system for monitoring deformation of subway protection area, electronic equipment and storage medium |
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