CN111336970B - Monitoring method and system for displacement of CORS reference station - Google Patents
Monitoring method and system for displacement of CORS reference station Download PDFInfo
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- CN111336970B CN111336970B CN202010286441.8A CN202010286441A CN111336970B CN 111336970 B CN111336970 B CN 111336970B CN 202010286441 A CN202010286441 A CN 202010286441A CN 111336970 B CN111336970 B CN 111336970B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
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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
- G01S19/01—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
- G01S19/14—Receivers specially adapted for specific applications
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to the technical field of Beidou satellite global positioning systems, and discloses a method for monitoring displacement of a CORS reference station, which comprises the following steps: screening out a first reference station with a first distance from a reference station to be detected; selecting a reference VRS grid point at a second distance from the first reference station, wherein the reference VRS grid point comprises the weight of the reference station to be detected; calculating the calculated position of the first reference station according to the original observed quantity of the first reference station and the original observed quantity of the reference VRS grid point, and comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement; and judging whether the reference station to be detected is displaced or not according to the displacement, and updating the position coordinate of the reference station to be detected in real time if the reference station to be detected is displaced. The displacement condition of the reference station in the earthquake zone and the place with large earth crust motion change can be accurately monitored in real time, and the coordinates of the reference station are updated in real time, so that the service precision of the national CORS network is reliable, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of Beidou satellite global positioning systems, and discloses a method and a system for monitoring displacement of a CORS reference station.
Background
With the continuous development and popularization of satellite positioning technology and IT technology, the national CORS network construction needs to be higher and higher, and a reference station needs to be deployed and high-precision positioning service needs to be operated in earthquake zones and places with large earth-crust motion changes.
Therefore, the reference station meeting the station building requirement is required to be regularly checked, so that whether the station is abnormal or not can be rapidly found, the service quality can be ensured, and the stability, the precision and the reliability of the CORS service can be improved. Most of the existing patents are focused on GNSS data quality detection or detection alarm and the like of a mobile CORS reference station, the reference station in a normal section can not be displaced, but the reference station in a special area such as an earthquake zone, a place with large earth crust motion change and the like can be displaced, so that the service problem of a CORS reference station system is caused.
Therefore, a method for solving the above problems is urgently required.
Disclosure of Invention
In view of the problems faced by the background art, the present invention aims to provide a method and a system for monitoring displacement of a CORS reference station.
In order to achieve the purpose, the invention adopts the following technical scheme:
a monitoring method for displacement of a CORS reference station comprises the following steps: screening out a first reference station with a first distance from a reference station to be detected; selecting a reference VRS grid point at a second distance from the first reference station, wherein the reference VRS grid point comprises the weight of the reference station to be detected; calculating the calculated position of the first reference station according to the original observed quantity of the first reference station and the original observed quantity of the reference VRS grid point, and comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement; and judging whether the reference station to be detected is displaced or not according to the displacement, and updating the position coordinate of the reference station to be detected in real time if the reference station to be detected is displaced.
Preferably, the first distance is 50-80 km, the first reference stations are multiple and surround the reference station to be detected, each reference station and the reference station to be detected are networked pairwise, and the baseline state is fixed.
Preferably, the second distance is 5 km.
Preferably, the reference VRS grid points are two VRS points which are located between the reference station to be detected and the first reference station and are closest to the first reference station, and the two VRS points are located on two sides of a baseline of the first reference station and the reference station to be detected respectively.
Preferably, the reference VRS grid point is a VRS point located closest to the first reference station on a baseline extension of the to-be-detected reference station and the first reference station.
Preferably, when the distances between the plurality of VRS points and the first reference station are the same, the VRS point with the highest fixed rate is selected as the reference VRS grid point.
Preferably, each first reference station acquires original observation message data every 15 seconds; acquiring the measurement positions of a plurality of first reference stations by utilizing original observation message data within 24 hours and satellite navigation messages provided by an IGS organization and calling a post-calculation program; performing adjustment calculation between nets to obtain accurate coordinates of all first reference stations; and comparing the calculated positions of all the first reference stations with the respective measuring positions to obtain the displacement of each first reference station.
Preferably, when all the displacement amounts of the first reference station are smaller than the set distance, judging that the reference station to be detected does not displace; when the displacement of one first reference station is not less than the set distance, detecting the displacement of a plurality of other first reference stations; and if the displacement of the other over half first reference station is not less than the set distance, judging that the position of the reference station to be detected moves.
Preferably, a computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method as described above.
Preferably, a system for monitoring displacement of a CORS reference station comprises: the screening unit is used for screening out a first reference station with a first distance from a reference station to be detected; the selection unit is used for selecting a reference VRS grid point which is a second distance away from the first reference station, and the reference VRS grid point comprises the weight of the reference station to be detected; the calculation unit is used for calculating the calculated position of the first reference station according to the original observed quantity of the first reference station and the original observed quantity of the reference VRS grid point, and comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement; and the judging and repairing unit is used for judging whether the reference station to be detected is displaced or not according to the displacement amount, and updating the position coordinate of the reference station to be detected in real time if the reference station to be detected is displaced.
Compared with the prior art, the invention provides a method for monitoring displacement of a CORS reference station, which comprises the following steps: screening out a first reference station with a first distance from a reference station to be detected; selecting a reference VRS grid point at a second distance from the first reference station, wherein the reference VRS grid point comprises the weight of the reference station to be detected; calculating the calculated position of the first reference station according to the original observed quantity of the first reference station and the original observed quantity of the reference VRS grid point, and comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement; and judging whether the reference station to be detected is displaced or not according to the displacement, and updating the position coordinate of the reference station to be detected in real time if the reference station to be detected is displaced. The stability and the precision reliability of CORS service are greatly dependent on the position of a reference station to be kept stable and unchanged, and the quality of CORS service can be greatly reduced when the position of the reference station changes by 1-2 cm.
Drawings
FIG. 1 is a schematic flow chart of a displacement monitoring method for a CORS reference station according to the present invention;
fig. 2 is a diagram of a system for monitoring displacement of a CORS reference station according to the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, some of which are illustrated in the accompanying drawings and described below, wherein like reference numerals refer to like elements throughout. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, based on the embodiments and the graphics of the invention, are within the scope of protection of the invention.
The stability and the precision reliability of CORS service are greatly dependent on the position of a reference station to be kept stable and unchanged, and the position of the reference station is changed by 1-2cm, so that the quality of the CORS service is greatly reduced, the site selection standard of the reference station building station is very high, and the reference station also needs to be deployed in places with large earthquake zone and crust movement changes along with the construction and development of a national CORS network.
As shown in fig. 1, the method for monitoring displacement of a CORS reference station provided by the present invention includes: s1, screening out a first reference station with a first distance from the reference station to be detected; s2, selecting a reference VRS grid point which is at a second distance from the first reference station, wherein the reference VRS grid point comprises the weight of the reference station to be detected; s3, calculating the calculated position of the first reference station according to the original observed quantity of the first reference station and the original observed quantity of the reference VRS grid point, and comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement; and S4, judging whether the reference station to be detected is displaced or not according to the displacement, and updating the position coordinates of the reference station to be detected in real time if the reference station to be detected is displaced.
S1, screening out a first reference station with a first distance from the reference station to be detected; the reference station to be detected is the reference station constructed in a place with large earthquake zones and earth crust motion changes, whether the reference station to be detected is displaced or not needs to be monitored in real time, and the displacement probability of the reference station under normal conditions is small and can be ignored. It is important to monitor whether the reference station in the place where the motion changes greatly is displaced. A network of national CORS reference stations, which involves hundreds or thousands of stations, among which the first reference station is screened a first distance from the reference station to be detected. The first distance is about 50-80 kilometers, a plurality of first reference stations are selected, the plurality of first reference stations are approximately uniformly distributed around the reference station to be detected, namely the first reference stations are multiple and surround the reference station to be detected, each reference station and the reference station to be detected are networked pairwise, and the baseline state is fixed. The first distance is limited within 50-80 kilometers, so that when every two first reference stations and the reference station to be detected are networked, the base line is fixed, VRS points near the first reference stations are accurate, and the VRS points contain the specific gravity of the reference station to be detected.
S2, selecting a reference VRS grid point which is at a second distance from the first reference station, wherein the reference VRS grid point comprises the weight of the reference station to be detected;
the second distance is approximately 5 km, but may also be a value around 5 km, for example 4 km or 6 km. One reference station is typically located at a distance of 50-100 km apart and the grid VRS points are typically located one at a distance of 5 km apart, in this embodiment three reference VRS grid points are selected around each first reference station, which are all close to the first reference station. The two reference VRS grid points are two VRS points which are located between the to-be-detected reference station and the first reference station and are closest to the first reference station, and the two VRS points are located on two sides of a base line of the first reference station and the to-be-detected reference station respectively. The other reference VRS grid point is a VRS point which is positioned on the extension line of the baseline of the to-be-detected reference station and the first reference station and is closest to the first reference station. When the distances of the plurality of VRS points and the first reference station are the same, the VRS point with the highest fixed rate is selected as the reference VRS grid point.
S3, calculating the calculated position of the first reference station according to the original observed quantity of the first reference station and the original observed quantity of the reference VRS grid point, and comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement;
each first reference station acquires original observation message data every 15 seconds; acquiring the measurement positions of a plurality of first reference stations by utilizing original observation message data within 24 hours and satellite navigation messages provided by an IGS organization and calling a post-calculation program; performing adjustment calculation between nets to obtain accurate coordinates of all first reference stations; and comparing the calculated positions of all the first reference stations with the respective measuring positions to obtain the displacement of each first reference station. Specifically, each first reference station acquires observation data of the three VRS points around each first reference station every 15 seconds, and collects a data file in a rinex format generated by an original observation message generated for 24 hours; and resolving the data in the rinex format through a post-resolving program to resolve the geodetic coordinate system position of the first reference station. In the embodiment, the calculated position of each first reference station is obtained by calculating by using a differential calculation method, and the calculated position is the position coordinate of the first reference station calculated by using three VRS grid points selected from the periphery. Comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement; the measured position is known and is the measured standard position coordinates of the first reference station. The displacement amount of each first reference station is obtained by using the difference between the known measured position and the calculated position.
And S4, judging whether the reference station to be detected is displaced or not according to the displacement, and updating the position coordinates of the reference station to be detected in real time if the reference station to be detected is displaced.
Detecting the displacement of each reference station, and judging that the reference station to be detected does not displace when the displacement of all the first reference stations is smaller than a set distance; when the displacement amounts of all the first reference stations are smaller than the set distance, the displacement amounts are caused by a systematic error. When the displacement of one first reference station is not less than the set distance, detecting the displacement of a plurality of other first reference stations; and if the displacement of the other over half first reference station is not less than the set distance, judging that the position of the reference station to be detected moves. At the moment, a repair strategy is triggered, the control center updates the position coordinates of the reference station to be detected in real time, and the updated position coordinates of the reference station to be detected participate in CORS network calculation, so that the CORS network provides accurate positioning service. In the present embodiment, the set distance is 1cm, but may be a value near 1cm, and is within the scope of the present invention.
Referring to fig. 2, a system for monitoring displacement of a reference station of a CORS includes: s10, a screening unit for screening out a first reference station with a first distance from a reference station to be detected; s20, selecting a reference VRS grid point at a second distance from the first reference station, wherein the reference VRS grid point contains the weight of the reference station to be detected; s30, a calculating unit is used for calculating the calculated position of the first reference station according to the original observed quantity of the first reference station and the original observed quantity of the reference VRS grid point, and comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement; and S40, judging whether the reference station to be detected is displaced or not according to the displacement, and updating the position coordinates of the reference station to be detected in real time if the reference station to be detected is displaced.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of any of the methods described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A monitoring method for displacement of a CORS reference station is characterized by comprising the following steps:
screening out a first reference station with a first distance from a reference station to be detected;
selecting a reference VRS grid point at a second distance from the first reference station, wherein the reference VRS grid point comprises the weight of the reference station to be detected;
calculating the calculated position of the first reference station according to the original observed quantity of the first reference station and the original observed quantity of the reference VRS grid point, and comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement;
and judging whether the reference station to be detected is displaced or not according to the displacement, and updating the position coordinate of the reference station to be detected in real time if the reference station to be detected is displaced.
2. The method of claim 1, wherein: the first distance is 50-80 kilometers, a plurality of first reference stations surround the reference station to be detected, each reference station and the reference station to be detected are networked pairwise, and the base line state is fixed.
3. The method of claim 1, wherein: the second distance is 5 km.
4. The method of claim 3, wherein: the reference VRS grid points are two VRS points which are positioned between the to-be-detected reference station and the first reference station and are closest to the first reference station, and the two VRS points are respectively positioned on two sides of a base line of the first reference station and the to-be-detected reference station.
5. The method of claim 3, wherein: the reference VRS grid point is a VRS point which is located on the extension line of the baseline of the to-be-detected reference station and the first reference station and is closest to the first reference station.
6. The method according to claim 4 or 5, characterized in that: when the distances between the plurality of VRS points and the first reference station are the same, the VRS point with the highest fixed rate is selected as the reference VRS grid point.
7. The method of claim 2, wherein: each first reference station acquires original observation message data every 15 seconds;
acquiring the measurement positions of a plurality of first reference stations by utilizing original observation message data within 24 hours and satellite navigation messages provided by an IGS organization and calling a post-calculation program;
performing adjustment calculation between nets to obtain accurate coordinates of all first reference stations;
and comparing the calculated positions of all the first reference stations with the respective measuring positions to obtain the displacement of each first reference station.
8. The method of claim 7, wherein: when all the first reference station displacement amounts are smaller than the set distance, judging that the reference station to be detected does not displace;
when the displacement of one first reference station is not less than the set distance, detecting the displacement of a plurality of other first reference stations;
and if the displacement of the other over half first reference station is not less than the set distance, judging that the position of the reference station to be detected moves.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as claimed in claim 1.
10. A monitoring system for displacement of a CORS reference station is characterized by comprising:
the screening unit is used for screening out a first reference station with a first distance from a reference station to be detected;
the selection unit is used for selecting a reference VRS grid point which is a second distance away from the first reference station, and the reference VRS grid point comprises the weight of the reference station to be detected;
the calculation unit is used for calculating the calculated position of the first reference station according to the original observed quantity of the first reference station and the original observed quantity of the reference VRS grid point, and comparing the calculated position of the first reference station with the measured position of the first reference station to obtain a displacement;
and the judging and repairing unit is used for judging whether the reference station to be detected is displaced or not according to the displacement amount, and updating the position coordinate of the reference station to be detected in real time if the reference station to be detected is displaced.
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