CN111273330A - Snow layer thickness measuring method and device based on Beidou system - Google Patents

Snow layer thickness measuring method and device based on Beidou system Download PDF

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Publication number
CN111273330A
CN111273330A CN202010115098.0A CN202010115098A CN111273330A CN 111273330 A CN111273330 A CN 111273330A CN 202010115098 A CN202010115098 A CN 202010115098A CN 111273330 A CN111273330 A CN 111273330A
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antenna
rnss
satellite
beidou
snow layer
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王奉帅
张望池
徐如�
付海军
王华青
杨炜
梁亮
赵中阳
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CETC 54 Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a snow layer thickness measuring method and device based on a Beidou system, and belongs to the technical field of navigation and positioning. Erecting an RNSS antenna, and recording the vertical height from the ground to the RNSS antenna; the front surface of the RNSS antenna faces the sky, and RNSS navigation signals are received; resolving the space rectangular coordinate of the RNSS antenna and converting the space rectangular coordinate into a geodetic coordinate; the front surface of the RNSS antenna faces the ground, the RNSS navigation signal reflected by the ground is received, the spatial rectangular coordinate of the RNSS antenna at the moment is calculated, and the spatial rectangular coordinate is converted into a geodetic coordinate; and calculating the thickness of the snow layer and the like. The invention fully utilizes the multipath influence of the satellite navigation signal, can be applied to the severe conditions of extremely cold, plateau and the like, and provides scientific and powerful data support for hydrological measurement.

Description

Snow layer thickness measuring method and device based on Beidou system
Technical Field
The invention belongs to the technical field of navigation and positioning, and particularly relates to a snow layer thickness measuring method and device based on a Beidou system.
Background
The second generation Beidou satellite navigation system is a satellite navigation system which is autonomously constructed and independently operated in China with attention paid to the development requirements of national security and economic society, and is a space infrastructure for providing all-weather, all-time, high-precision positioning, navigation, time service and short message service for users in Asia-Pacific region.
With the development of the construction and service capability of the Beidou system, related products are applied to the fields of transportation, geodetic survey, hydrological monitoring, emergency search and rescue and the like, and the rapid development of Chinese economy is driven.
As is well known, the multipath effect of satellite navigation signals seriously affects the positioning and time service precision, but the multipath effect of signal reflection is widely researched and applied in the fields of soil humidity analysis, snow thickness measurement and vegetation growth monitoring.
The accumulated snow stores a large amount of water, the speed of melting the accumulated snow provides important information for hydrologists and climatists, but the thickness of the snow layer on a mountain or a plateau is difficult to measure, and the local water storage amount and the climate information cannot be mastered in real time.
Disclosure of Invention
In order to solve the existing problems, the invention provides a snow layer thickness measuring method and device based on the Beidou system, the snow layer thickness measuring method and device is not limited by geographical conditions, the Beidou system can be used for measuring the thickness of the snow layer in real time, and important information can be provided for hydrologists and climatists conveniently.
In order to achieve the purpose, the invention adopts the following technical scheme:
a snow layer thickness measuring method based on a Beidou system comprises the following steps:
step 1, erecting an RNSS antenna, and recording the vertical height h from the ground to the RNSS antenna;
step 2, enabling the front face of the RNSS antenna to face the sky, receiving RNSS navigation signals from the Beidou second-generation navigation satellite system, and obtaining pseudo-range measurement values rho of the RNSS antenna and each satellite of the Beidou second-generation navigation satellite systemiAnd carrier phase
Figure BDA0002391243760000011
Step 3, demodulating navigation messages of a Beidou second-generation navigation satellite system to obtain ephemeris and wide-area differential information of each satellite, eliminating satellite clock error, satellite position error, ionosphere error and troposphere error, and then calculating the spatial rectangular coordinates of the RNSS antenna by adopting a precise single-point positioning algorithm;
step 4, converting the space rectangular coordinate obtained in the step 3 into a geodetic coordinate (B)1,L1,H1)；
Step 5, the front surface of the RNSS antenna faces the ground, the RNSS navigation signal reflected by the ground is received, then a precise single-point positioning algorithm is adopted to calculate and obtain the spatial rectangular coordinate of the RNSS antenna at the moment,
step 6, converting the space rectangular coordinate obtained in the step 5 into a geodetic coordinate (B)2,L2,H2)；
Step 7, calculating the thickness d of the snow layer:
Figure BDA0002391243760000021
further, the equation of the precise point location algorithm in the steps 3 and 5 is as follows:
Figure BDA0002391243760000022
Figure BDA0002391243760000023
in the formula (x)i,yi,zi) Is the coordinate of the ith satellite, (x, y, z) is the spatial rectangular coordinate of the antenna, dt represents the local clock error of the user machine, dt(i)Representing the satellite clock error, T, of satellite i(i)Tropospheric delay for satellite I, I(i)Ionospheric delay, ε, for satellite i(i)Indicating the pseudorange observation error of satellite i, ξ(i)Denotes the carrier observation error of the satellite i, lambda denotes the wavelength of the RNSS measurement frequency point, NiIndicating that carrier ambiguity for satellite i is observed.
Further, in steps 4 and 6, the three components B, L, H of the geodetic coordinates are:
Figure BDA0002391243760000024
Figure BDA0002391243760000025
Figure BDA0002391243760000026
wherein (x, y, z) is the spatial rectangular coordinate of the antenna,
Figure BDA0002391243760000027
a is the earth major semi-axis, and b is the earth minor semi-axis.
In addition, the invention also provides a snow layer thickness measuring device based on the Beidou system, which comprises a terminal machine, an antenna frame, a solar battery, an RNSS antenna, an RDSS antenna and a Beidou dual-mode user machine, wherein the RNSS antenna is arranged on the antenna frame, the antenna frame is also provided with a rotating device for adjusting the front orientation of the RNSS antenna, the solar battery provides power for the terminal machine and the Beidou dual-mode user machine, the terminal machine is used for executing the snow layer thickness measuring method, the front orientation of the RNSS antenna is controlled by the rotating device, and the measured value is sent out through the RDSS antenna.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention fully utilizes the multipath effect of the Beidou navigation signal, and solves the mirror image position of the antenna by adopting an RNSS precise single-point positioning method, thereby calculating the thickness of the snow layer.
2. The device can report the measurement data to the data processing center through the Beidou system through the RDSS antenna, so that the unattended automatic snow layer thickness measurement function can be realized.
3. The invention can provide powerful data support for hydrological monitoring and climate change.
4. The device is based on the Beidou system, and can be erected in various regions of the world when the Beidou third-generation navigation system is all put into operation, so that real-time monitoring of snow layers in various regions is realized.
Drawings
Fig. 1 is a schematic view of a snow layer thickness measuring apparatus in an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A snow layer thickness measuring method based on a Beidou system comprises the following steps:
step 1, erecting an RNSS antenna, and recording the vertical height h from the ground to the RNSS antenna;
step 2, enabling the front face of the RNSS antenna to face the sky, receiving RNSS navigation signals from the Beidou second-generation navigation satellite system, and obtaining pseudo-range measurement values rho of the RNSS antenna and each satellite of the Beidou second-generation navigation satellite systemiAnd carrier phase
Figure BDA0002391243760000031
Step 3, demodulating navigation messages of a Beidou second-generation navigation satellite system to obtain ephemeris and wide-area differential information of each satellite, eliminating satellite clock error, satellite position error, ionosphere error and troposphere error, and then calculating the spatial rectangular coordinates of the RNSS antenna by adopting a precise single-point positioning algorithm;
step 4, converting the space rectangular coordinate obtained in the step 3 into a geodetic coordinate (B)1,L1,H1)；
Step 5, the front surface of the RNSS antenna faces the ground, the RNSS navigation signal reflected by the ground is received, then a precise single-point positioning algorithm is adopted to calculate and obtain the spatial rectangular coordinate of the RNSS antenna at the moment,
step 6, converting the space rectangular coordinate obtained in the step 5 into a geodetic coordinate (B)2,L2,H2)；
Step 7, calculating the thickness d of the snow layer:
Figure BDA0002391243760000032
further, the equation of the precise point location algorithm in the steps 3 and 5 is as follows:
Figure BDA0002391243760000033
Figure BDA0002391243760000041
in the formula (x)i,yi,zi) Is the coordinate of the ith satellite, (x, y, z) is the spatial rectangular coordinate of the antenna, dt represents the local clock error of the user machine, dt(i)Representing the satellite clock error, T, of satellite i(i)Tropospheric delay for satellite I, I(i)Ionospheric delay, ε, for satellite i(i)Indicating the pseudorange observation error of satellite i, ξ(i)Denotes the carrier observation error of the satellite i, lambda denotes the wavelength of the RNSS measurement frequency point, NiIndicating that carrier ambiguity for satellite i is observed.
Further, in steps 4 and 6, the three components B, L, H of the geodetic coordinates are:
Figure BDA0002391243760000042
Figure BDA0002391243760000043
Figure BDA0002391243760000044
wherein (x, y, z) is the spatial rectangular coordinate of the antenna,
Figure BDA0002391243760000045
a is the earth major semi-axis, and b is the earth minor semi-axis.
As shown in fig. 1, a snow cover thickness measuring device based on the big dipper system comprises a terminal machine, an antenna frame, a solar cell, an RNSS antenna, an RDSS antenna and a big dipper dual-mode user machine, wherein the RNSS antenna is arranged on the antenna frame, a rotating device for adjusting the front orientation of the RNSS antenna is further arranged on the antenna frame, the solar cell provides a power supply for the terminal machine and the big dipper dual-mode user machine, and the terminal machine controls the front orientation of the RNSS antenna through the rotating device.
The terminal is used for executing the following programs:
step 1, an RNSS antenna is placed on an antenna bracket, the front side of the RNSS antenna faces the sky, the vertical height h from the ground to the antenna is measured by a ruler, and the vertical height h is placed into a terminal through an RS232 serial port and stored;
step 2, the terminal machine receives the second generation Beidou navigation satellite system with the distance measuring function through the RNSS antenna to obtain a pseudo range measurement value rho of each satellite of the terminal machine and the second generation Beidou navigation satellite systemiAnd carrier phase
Figure BDA0002391243760000046
Step 3, obtaining ephemeris and wide-area difference information of each satellite after demodulating satellite navigation messages, modeling after eliminating satellite clock error, satellite position error, ionosphere error and troposphere error, and calculating the antenna position (x, y, z) under the space rectangular coordinate by adopting a precise single-point positioning algorithm;
step 4, converting the antenna position (x, y, z) under the space rectangular coordinate into a geodetic coordinate (B, L, H), and storing the coordinate into Flash by a terminal;
step 5, the RNSS antenna front face faces the ground to receive the RNSS navigation signal reflected by the ground, the terminal machine obtains the antenna position (x ', y ', z ') under the RNSS space rectangular coordinate through precise single-point positioning and calculation,
step 6, converting the antenna position (x ', y', z ') under the space rectangular coordinate into the geodetic coordinate (B', L ', H')
And 7, calculating the thickness of the snow layer by the terminal machine, and sending the depth d of the snow layer to a data processing center through an RDSS antenna.
Further, the modeling equations in step 3 and step 5 are
Figure BDA0002391243760000051
Figure BDA0002391243760000052
Wherein (x)i,yi,zi) Is the location of the ith satellite, (x, y, z) is the location of the antenna, dt represents the local clock error of the user machine, dt(i)Representing the satellite clock error for satellite k. T is(i)For tropospheric delay, I(i)These two errors can be calculated by a prior model for ionospheric delay. Epsilon(i)Indicating pseudo-range observation error for satellite k, ξ(i)Representing the carrier observation error for satellite k. λ represents the wavelength of RNSS measurement frequency point, NiIndicating that carrier ambiguity is observed.
Further, the equations in step 4 and step 6 are
Figure BDA0002391243760000053
Figure BDA0002391243760000054
Figure BDA0002391243760000055
Figure BDA0002391243760000056
Figure BDA0002391243760000061
Further, the equation for solving d in step 7 is:
Figure BDA0002391243760000062
in addition, the terminal machine can also communicate with the data processing center through RDSS to receive short messages from the data center, so that the frequency of reporting the thickness of the snow layer by the user machine is controlled.
The invention fully utilizes the multipath influence of satellite navigation signals, the positioning calculation algorithm continues the traditional four-star positioning principle, and fully utilizes the short message service of RDSS, can be installed in the severe conditions such as extremely cold and plateau, and provides scientific and powerful data support for hydrological measurement.

Claims (4)

1. The snow layer thickness measuring method based on the Beidou system is characterized by comprising the following steps of:
step 1, erecting an RNSS antenna, and recording the vertical height h from the ground to the RNSS antenna;
step 2, enabling the front face of the RNSS antenna to face the sky, receiving RNSS navigation signals from the Beidou second-generation navigation satellite system, and obtaining pseudo-range measurement values rho of the RNSS antenna and each satellite of the Beidou second-generation navigation satellite systemiAnd carrier phase
Figure FDA0002391243750000014
Step 3, demodulating navigation messages of a Beidou second-generation navigation satellite system to obtain ephemeris and wide-area differential information of each satellite, eliminating satellite clock error, satellite position error, ionosphere error and troposphere error, and then calculating the spatial rectangular coordinates of the RNSS antenna by adopting a precise single-point positioning algorithm;
step 4, converting the space rectangular coordinate obtained in the step 3 into a geodetic coordinate (B)1,L1,H1)；
Step 5, the front surface of the RNSS antenna faces the ground, the RNSS navigation signal reflected by the ground is received, then a precise single-point positioning algorithm is adopted to calculate and obtain the spatial rectangular coordinate of the RNSS antenna at the moment,
step 6, converting the space rectangular coordinate obtained in the step 5 into a geodetic coordinate (B)2,L2,H2)；
Step 7, calculating the thickness d of the snow layer:
Figure FDA0002391243750000011
2. the snow layer thickness measuring method based on the Beidou system according to claim 1, wherein the equation of the precise single point positioning algorithm in the step 3 and the step 5 is as follows:
Figure FDA0002391243750000012
Figure FDA0002391243750000013
in the formula (x)i,yi,zi) Is the coordinate of the ith satellite, (x, y, z) is the spatial rectangular coordinate of the antenna, dt represents the local clock error of the user machine, dt(i)Representing the satellite clock error, T, of satellite i(i)Tropospheric delay for satellite I, I(i)Ionospheric delay, ε, for satellite i(i)Indicating the pseudorange observation error of satellite i, ξ(i)Denotes the carrier observation error of the satellite i, lambda denotes the wavelength of the RNSS measurement frequency point, NiIndicating that carrier ambiguity for satellite i is observed.
3. The snow cover thickness measurement method based on the Beidou system according to claim 1, wherein in the steps 4 and 6, three components B, L, H of geodetic coordinates are respectively:
Figure FDA0002391243750000021
Figure FDA0002391243750000022
Figure FDA0002391243750000023
wherein (x, y, z) is the spatial rectangular coordinate of the antenna,
Figure FDA0002391243750000024
Figure FDA0002391243750000025
a is the earth major semi-axis, and b is the earth minor semi-axis.
4. A snow layer thickness measuring device based on a Beidou system is characterized by comprising a terminal machine, an antenna frame, a solar cell, an RNSS antenna, an RDSS antenna and a Beidou dual-mode user machine, wherein the RNSS antenna is arranged on the antenna frame, the antenna frame is further provided with a rotating device used for adjusting the front orientation of the RNSS antenna, the solar cell provides power for the terminal machine and the Beidou dual-mode user machine, the terminal machine is used for executing the snow layer thickness measuring method according to any one of claims 1-3, the terminal machine controls the front orientation of the RNSS antenna through the rotating device, and the RDSS antenna sends out a measured value.
CN202010115098.0A 2020-02-25 2020-02-25 Snow layer thickness measuring method and device based on Beidou system Pending CN111273330A (en)

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CN113189627A (en) * 2021-04-29 2021-07-30 中国电子科技集团公司第五十四研究所 Communication positioning integrated dual-mode airborne system based on Beidou satellite
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