CN111610308A - Double-layer landslide monitoring system and method based on RTK technology - Google Patents
Double-layer landslide monitoring system and method based on RTK technology Download PDFInfo
- Publication number
- CN111610308A CN111610308A CN202010342385.5A CN202010342385A CN111610308A CN 111610308 A CN111610308 A CN 111610308A CN 202010342385 A CN202010342385 A CN 202010342385A CN 111610308 A CN111610308 A CN 111610308A
- Authority
- CN
- China
- Prior art keywords
- station
- reference station
- layer
- observation
- double
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
-
- 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
Abstract
The invention relates to a double-layer landslide monitoring system and a double-layer landslide monitoring method based on an RTK technology, wherein the system comprises the following components: the system comprises a reference station, an observation station and a background server, wherein the reference station and the observation station are arranged in a landslide monitoring area and receive navigation positioning satellite signals, the reference station and the observation station are both provided with a satellite data processing module and a communication module, the reference station is further communicated with the background server, and the observation station is arranged around the reference station. The method comprises the following steps: receiving a satellite signal; carrying out baseline solution; and the background server judges whether landslide early warning information is sent according to the baseline resolving result. The invention has the advantages that: double-layer baseline resolving is adopted, point type observation is changed into surface type observation, the accuracy of landslide monitoring is improved, and the problem of missed alarm caused by the fact that the length of a baseline is unchanged due to the fact that a reference station and an observation station are shifted simultaneously is solved; the length of a base line between a main node and an auxiliary node in the observation station is adjustable, so that the system can adapt to complex landslide conditions; and the RTK technology is adopted, so that high-precision real-time automatic monitoring is realized.
Description
Technical Field
The invention belongs to the field of engineering geological disaster prevention and control, and particularly relates to a double-layer landslide monitoring system and method based on an RTK technology.
Background
Losses caused by geological disasters such as landslide and the like are in a growing trend, and serious threats are generated to the life and property safety of people. According to statistics, the loss caused by various geological disasters in the world is about $ 1500 hundred million each year, and the number of people who die from geological disasters in recent 80 years is over 1000 ten thousand. Therefore, research on landslide monitoring has been intensively carried out in recent years.
A landslide monitoring system in a three gorges reservoir area is established based on a 3S technology and a ground deformation monitoring station network, and the distribution condition of a landslide deformation area is obtained through space technologies such as a GPS (global positioning system), but because the direct use of a reference point in measurement is inconvenient or unreasonable, a working point is introduced, and the complexity of the system is increased to a certain extent. Landslide analysis is carried out based on a GIS technology, a feasible complex landslide analysis model and technology are provided, and a visual means for expressing a prediction result is provided, but the universality of the model is not strong, and the prediction results of different people are greatly different, so that the universality is not high.
Most of the existing research on the landslide monitoring system is improvement on a data transmission mode and a monitoring mode, optimization on a monitoring system model is still deficient, and the existing landslide detection system can only inform that a landslide occurs in the area and cannot give an early warning, so that a test is provided for real-time dynamic monitoring of the landslide area.
Disclosure of Invention
The invention mainly solves the problems that the existing landslide monitoring scheme is poor in universality and high in complexity and cannot play a role in early warning, and provides a double-layer landslide monitoring system based on an RTK technology, which can realize high-precision real-time automatic monitoring and solve the problem of alarm omission caused by the fact that the base length is unchanged due to the fact that a reference station and an observation station are simultaneously offset.
The technical scheme adopted for solving the technical problem is that the double-layer landslide monitoring system based on the RTK technology comprises a reference station, an observation station and a background server, wherein the reference station and the observation station are arranged in a landslide monitoring area and receive navigation positioning satellite signals, the reference station and the observation station are respectively provided with a satellite data processing module for processing satellite data and a communication module for communication between the reference station and the observation station, the reference station is communicated with the background server, and the observation station is arranged around the reference station.
The method comprises the steps that a reference station receives positioning data sent by an observation station, the reference station carries out deformation measurement according to the positioning data of the reference station and the observation station, namely after the base length is calculated, the base length calculation result is sent to a background server, and the background server carries out early warning according to the base length calculation result. The Real-time kinematic positioning of the reference station, the observation station main node and the observation station auxiliary node is realized through an RTK (Real-time kinematic) carrier phase differential technology, and a data basis is provided for high-precision Real-time automatic monitoring of landslide.
As a preferable scheme of the above scheme, the observation station includes a main node and a plurality of auxiliary nodes, the auxiliary nodes are provided with an auxiliary satellite signal receiving module and an auxiliary communication module communicating with the main node, the main node is provided with a main satellite signal receiving module and a main communication module, and the auxiliary nodes are arranged around the main node. The auxiliary communication module sends the information received by the auxiliary satellite signal receiving module to the main communication module, and the main node carries out baseline calculation and sends the baseline calculation information to the reference station through the main communication module; the length of a base line between the main node and the auxiliary node in the observation station is adjustable, so that the system can adapt to complex landslide conditions.
As a preferred scheme of the above scheme, the server includes a parameter setting module, a collection storage module, a data and curve display module and an early warning and alarm module, the background server stores data sent by the reference station into the collection storage module and processes and analyzes the data, the data and curve display module displays the landslide area status, and meanwhile, whether landslide early warning information is sent by the early warning and alarm module is judged according to a threshold value preset in the parameter setting module and a data processing and analyzing result. The acquisition and storage mainly comprises the step of putting the transmitted baseline data among the plurality of antennas into the set position of the background server, so that the baseline data and the actual test area are in one-to-one correspondence. The data and curve display can visually see the length change trend of each base line.
As a preferable scheme of the above scheme, the data sent by the reference station includes an ID identification number, an X-axis, a Y-axis, a Z-axis, and a spatial distance between the satellite signal receiving module in the reference station and the main satellite signal receiving module in the observation station, and an X-axis, a Y-axis, a Z-axis, and a spatial distance between the main satellite signal receiving module and the auxiliary satellite signal receiving module in the same observation station.
Correspondingly, the invention also provides a double-layer landslide monitoring method based on the RTK technology, and the double-layer landslide monitoring system based on the RTK technology comprises the following steps:
s1: the reference station and the observation station receive the satellite signals and perform data information format conversion;
s2: the observation station main node sends a result to the reference station after performing first-layer baseline resolution, and the reference station performs second-layer baseline resolution and sends the first-layer baseline resolution result and the second-layer baseline resolution result to the background server;
s3: and the background server receives the results of the first-layer baseline calculation and the second-layer baseline calculation and judges whether landslide early warning information is sent out or not.
By adopting double-layer baseline calculation, the problem of missed alarm caused by unchanged baseline length due to simultaneous offset of the reference station and the observation station is solved, and the accuracy of landslide monitoring is improved.
As a preferable scheme of the above scheme, the first-layer baseline solution uses data of a reference station and a master node of an observation station; and the second layer baseline is used for resolving data of the main node and the auxiliary node of the observation station.
As a preferable mode of the above-mentioned scheme, the first-layer baseline solution and the second-layer baseline solution each include the steps of:
s21: establishing a double-difference observation equation;
s22: solving a floating point solution and a covariance matrix of a double-difference observation equation;
s23: fixing the whole week of blurring to obtain a fixed baseline solution;
s24: and carrying out validity verification on the obtained fixed baseline solution.
As a preferable example of the foregoing solution, in step S24, the fixed baseline solution validity verification condition is as follows: if it is
And reserving, otherwise, neglecting, wherein b is a solved baseline vector, l is an actually measured baseline length, namely the distance between the reference station and the observation station main node or the distance between the observation station main node and the auxiliary node, and gamma is a threshold value set based on l.
As a preferable solution of the above solution, the double-difference observation equation is as follows:
wherein the content of the first and second substances,
representing double-difference carrier phase observations between two satellites i, j and a reference station A and a reference station B at time t; λ represents a carrier wavelength;
representing double-difference pseudorange values between two satellites i and j and a reference station A and a reference station B at the moment t;
representing double difference integer ambiguity between two satellites i and j and a reference station A and a reference station B at the moment t;
and representing observation noise, wherein a reference station A is a reference station and a reference station B is a main node of the observation station in the first-layer baseline solution, and the reference station A is the main node of the observation station and the reference station B is an auxiliary node of the observation station in the second-layer baseline solution.
The invention has the beneficial effects that: double-layer baseline solution is adopted, point-type observation is changed into surface-type observation through second-layer baseline solution, the accuracy of landslide monitoring is improved, and the problem of alarm missing caused by the fact that the baseline length is unchanged due to the fact that a base station and an observation station are offset simultaneously is avoided; the length of a base line between a main node and an auxiliary node in the observation station is adjustable, so that the system can adapt to complex landslide conditions; and the RTK technology is adopted, so that high-precision, real-time and automatic monitoring is realized.
Drawings
Fig. 1 is a schematic structural diagram of a double-layer landslide monitoring system based on an RTK technique in an embodiment.
Fig. 2 is a schematic flow chart of a double-layer landslide monitoring method based on the RTK technology in the embodiment.
1-a reference station 2-an observation station 3-a background server 4-a main node 5-an auxiliary node.
Detailed Description
The technical solution of the present invention is further described below by way of examples with reference to the accompanying drawings.
Example (b):
the embodiment of the double-layer landslide monitoring system based on the RTK technology is shown in FIG. 1, and comprises a reference station 1, an observation station 2 and a background server 3, wherein the reference station 1 and the observation station 2 are arranged in a landslide monitoring area, the reference station 1 is arranged on the top of a slope, the observation station 2 is arranged on the slope, the observation station comprises a main node 4 and a plurality of auxiliary nodes 5, the auxiliary nodes 5 are arranged around the main node 4, the distance between the observation station 2 and the reference station 1 and the distance between the main node 4 and the auxiliary nodes 5 can be adjusted according to the site terrain, a satellite data receiving module of the reference station, a data processing module of the reference station, an LoRa wireless communication module and a TEL module are arranged on the reference station, a main satellite signal receiving module, a main satellite data processing module and a main LoRa wireless communication module are arranged on the observation station main node, and an auxiliary satellite signal receiving module, an auxiliary satellite data processing module and an auxiliary LoRa wireless communication module are arranged on the auxiliary node of the observation station.
The method comprises the steps that a main node and an auxiliary node in a reference station and an observation station receive satellite positioning information through respective satellite signal receiving modules, the reference station and the observation station simultaneously receive BDS satellite data and GPS satellite data, the auxiliary node in the same observation station sends satellite positioning signals to the main node, the satellite positioning signals received by the auxiliary node in each observation station are sent to the main node, the main node performs first-layer baseline solution and sends results to the reference station, the reference station performs second-layer baseline solution according to the satellite positioning signals of the reference station and the received satellite positioning signals of the main node of the observation station and sends the first-layer baseline solution results and the second-layer baseline solution results to a background server through an LET module, and the data sent by the reference station comprise ID identification numbers of all LoRa wireless communication modules, X-axis, Y-axis, GPS-axis, satellite signal receiving modules in the reference station and observation, The Y-axis, the Z-axis and the spatial distance and the X-axis, the Y-axis, the Z-axis and the spatial distance of the main satellite signal receiving module and the auxiliary satellite signal receiving module in the same observation station.
The server 3 comprises a parameter setting module, a collection storage module, a data and curve display module and an early warning and alarming module, the background server stores the data sent by the reference station into the collection storage module and processes and analyzes the data, the data and curve display module displays the landslide area condition, and meanwhile, whether landslide early warning information is sent out through the early warning and alarming module is judged according to a threshold value and a data processing and analyzing result preset in the parameter setting module.
Correspondingly, the present embodiment further provides a double-layer landslide monitoring method based on the RTK technology, and with the double-layer landslide monitoring system based on the RTK technology in the present embodiment, as shown in fig. 2, the method includes the following steps:
s1: the reference station and the observation station receive satellite signals, and format conversion is carried out on original received data according to a satellite data standard RINEX _3.02 format;
s2: a main node in the same observation station receives satellite positioning information sent by an auxiliary node, performs first-layer baseline calculation and then sends a result to a reference station, the reference station performs second-layer baseline calculation and sends the first-layer baseline calculation result and the second-layer baseline calculation result to a background server, and the first-layer baseline calculation adopts data of the main node and the auxiliary node of the observation station; the second layer of baseline is used for resolving data of a reference station and a main node of an observation station; the first layer baseline solution and the second layer baseline solution comprise the following steps:
s21: establishing double-difference observation equation
Wherein the content of the first and second substances,
representing double-difference carrier phase observations between two satellites i, j and a reference station A and a reference station B at time t; λ represents a carrier wavelength;
representing double-difference pseudorange values between two satellites i and j and a reference station A and a reference station B at the moment t;
representing double difference integer ambiguity between two satellites i and j and a reference station A and a reference station B at the moment t;
representing observation noise, wherein a reference station A is a reference station and a reference station B is an observation station main node in the first-layer baseline solution, the reference station A is the observation station main node and the reference station B is an observation station auxiliary node in the second-layer baseline solution, and satellites i and j are BDS satellites and GPS satellites respectively;
s22: solving a floating point solution and a covariance matrix of a double-difference observation equation by adopting a least square estimation method;
s23: searching and fixing the ambiguity of the whole cycle by adopting an improved ant colony algorithm to obtain a fixed base line solution and carrying out validity check on the fixed base line solution, wherein the validity check conditions of the fixed base line solution are as follows: if it is
Reserving, otherwise, ignoring, wherein b is a solved baseline vector, l is an actually measured baseline length, i.e., a distance between the reference station and the observation station main node or a distance between the observation station main node and the auxiliary node, and γ is a threshold set based on l, where γ is set to be 5% of the actually measured baseline length in this embodiment;
s3: the background server receives information sent by the reference station, the information sent by the reference station comprises ID identification numbers of all LoRa wireless communication modules, X-axis, Y-axis, Z-axis and spatial distances between a satellite signal receiving module in the reference station and a main satellite signal receiving module of an observation station and X-axis, Y-axis, Z-axis and spatial distances between the main satellite signal receiving module and an auxiliary satellite signal receiving module in the same observation station, an acquisition and storage module in the background server mainly puts a plurality of base line data, namely the spatial distances, into the set position of the background server according to the ID identification numbers to realize one-to-one correspondence between the base line data and an actual test area, a data and curve display module in the background server can visually see the change trend of all the base line lengths, and judging whether landslide early warning information is sent out through the early warning and alarming module or not according to a threshold value preset in the parameter setting module and a data processing and analyzing result.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (9)
1. A double-layer landslide monitoring system based on RTK technology is characterized in that: the landslide monitoring system comprises a reference station (1), an observation station (2) and a background server (3), wherein the reference station and the observation station are arranged in a landslide monitoring area and receive navigation positioning satellite signals, the reference station and the observation station are respectively provided with a satellite data processing module for processing satellite data and a communication module for communication between the reference station and the observation station, the reference station is communicated with the background server, and the observation station is arranged around the reference station.
2. The RTK technology-based double-layer landslide monitoring system according to claim 1, wherein: the observation station (2) comprises a main node (4) and a plurality of auxiliary nodes (5), wherein the auxiliary nodes are provided with auxiliary satellite signal receiving modules and auxiliary communication modules communicated with the main node, the main node is provided with a main satellite signal receiving module and a main communication module, and the auxiliary nodes are arranged around the main node.
3. The RTK technology-based double-layer landslide monitoring system according to claim 1, wherein: the server (3) comprises a parameter setting module, a collection storage module, a data and curve display module and an early warning and alarming module, the background server stores the data sent by the reference station into the collection storage module and processes and analyzes the data, the data and curve display module displays the landslide area condition, and meanwhile, whether landslide early warning information is sent out through the early warning and alarming module is judged according to a threshold value and a data processing and analyzing result preset in the parameter setting module.
4. The RTK technology-based double-layer landslide monitoring system according to claim 3, wherein: the data sent by the reference station comprises an ID identification number, X-axis, Y-axis, Z-axis and spatial distances between a satellite signal receiving module in the reference station and a main satellite signal receiving module of an observation station, and X-axis, Y-axis, Z-axis and spatial distances between the main satellite signal receiving module and an auxiliary satellite signal receiving module in the same observation station.
5. A double-layer landslide monitoring method based on RTK technology, using the system of any one of claims 1-4, characterized by: the method comprises the following steps:
s1: the reference station and the observation station receive the satellite signals and perform data information format conversion;
s2: the observation station main node sends a result to the reference station after performing first-layer baseline resolution, and the reference station performs second-layer baseline resolution and sends the first-layer baseline resolution result and the second-layer baseline resolution result to the background server;
s3: and the background server receives the results of the first-layer baseline calculation and the second-layer baseline calculation and judges whether landslide early warning information is sent out or not.
6. The double-layer landslide monitoring method based on RTK technology of claim 5, wherein: the first-layer baseline is used for resolving data of the main node and the auxiliary node of the observation station; and the second layer of baseline is used for resolving data of a reference station and a main node of an observation station.
7. The double-layer landslide monitoring method based on RTK technology of claim 5 or 6, wherein: the first layer baseline solution and the second layer baseline solution both comprise the following steps:
s21: establishing a double-difference observation equation;
s22: solving a floating point solution and a covariance matrix of a double-difference observation equation;
s23: fixing the whole week of blurring to obtain a fixed baseline solution;
s24: and carrying out validity verification on the obtained fixed baseline solution.
8. The RTK-technology-based double-layer landslide monitoring method according to claim 7, wherein: in step S24, the fixed baseline solution is validated as follows: if it is
And reserving, otherwise, neglecting, wherein b is a solved baseline vector, l is an actually measured baseline length, namely the distance between the reference station and the observation station main node or the distance between the observation station main node and the auxiliary node, and gamma is a threshold value set based on l.
9. The RTK-technology-based double-layer landslide monitoring method according to claim 7, wherein: the double-difference observation equation is as follows:
wherein the content of the first and second substances,
representing double-difference carrier phase observations between two satellites i, j and a reference station A and a reference station B at time t; lambda denotesA carrier wavelength;
representing double-difference pseudorange values between two satellites i and j and a reference station A and a reference station B at the moment t;
representing double difference integer ambiguity between two satellites i and j and a reference station A and a reference station B at the moment t;
and representing observation noise, wherein a reference station A is a reference station and a reference station B is a main node of the observation station in the first-layer baseline solution, and the reference station A is the main node of the observation station and the reference station B is an auxiliary node of the observation station in the second-layer baseline solution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010342385.5A CN111610308A (en) | 2020-04-27 | 2020-04-27 | Double-layer landslide monitoring system and method based on RTK technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010342385.5A CN111610308A (en) | 2020-04-27 | 2020-04-27 | Double-layer landslide monitoring system and method based on RTK technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111610308A true CN111610308A (en) | 2020-09-01 |
Family
ID=72203142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010342385.5A Pending CN111610308A (en) | 2020-04-27 | 2020-04-27 | Double-layer landslide monitoring system and method based on RTK technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111610308A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112994845A (en) * | 2021-02-08 | 2021-06-18 | 武汉梦芯科技有限公司 | RTK data transmission method, system and storage medium based on combination of LoRa and LDPC |
| CN113137911A (en) * | 2021-04-25 | 2021-07-20 | 成都理工大学 | Real-time frequency conversion landslide monitoring devices based on RTK |
| CN113809838A (en) * | 2021-08-19 | 2021-12-17 | 中国地质大学（武汉） | Frequency self-tuning double-receiving-end wireless power transmission and communication device for landslide monitoring |
| CN113805212A (en) * | 2021-09-26 | 2021-12-17 | 南宁桂电电子科技研究院有限公司 | Self-adaptive GNSS carrier phase differential landslide monitoring method |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106441174A (en) * | 2016-09-09 | 2017-02-22 | 桂林电子科技大学 | High slope deformation monitoring method and system |
| CN106846889A (en) * | 2017-01-23 | 2017-06-13 | 杭州电子科技大学 | A kind of indoor and outdoor parking alignment system and localization method |
| CN106873015A (en) * | 2017-01-23 | 2017-06-20 | 杭州电子科技大学 | Indoor and outdoor seamless positioning system and localization method that CSS is combined with GPS |
| CN107421434A (en) * | 2017-08-08 | 2017-12-01 | 千寻位置网络有限公司 | More base station Multi GNSS Long baselines near real-time deformation monitoring methods |
| CN108205150A (en) * | 2016-12-19 | 2018-06-26 | 千寻位置网络有限公司 | Differential positioning method and system |
| CN108317949A (en) * | 2018-02-07 | 2018-07-24 | 桂林电子科技大学 | A kind of RTK high-precision differences positioning deformation monitoring system and method |
| CN108646266A (en) * | 2018-05-14 | 2018-10-12 | 中铁八局集团昆明铁路建设有限公司 | Construction precisely controlling system and method based on Big Dipper high accuracy positioning |
| CN108871179A (en) * | 2018-05-07 | 2018-11-23 | 桂林电子科技大学 | Deformation monitoring localization method and device based on the fusion of carrier phase difference transfer static state |
| 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 |
| CN110007328A (en) * | 2019-05-10 | 2019-07-12 | 国网浙江省电力有限公司信息通信分公司 | Non-combined RTK localization method based on four frequency observation of No. three satellites of Beidou |
| CN110068849A (en) * | 2019-05-06 | 2019-07-30 | 国网山东省电力公司东营供电公司 | Transmission line of electricity multidimensional deformation method of real-time and system based on Differential positioning |
| CN110068847A (en) * | 2019-04-01 | 2019-07-30 | 和芯星通科技(北京)有限公司 | A kind of method and apparatus that appearance is surveyed in the positioning of GNSS multi-aerial receiver |
-
2020
- 2020-04-27 CN CN202010342385.5A patent/CN111610308A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106441174A (en) * | 2016-09-09 | 2017-02-22 | 桂林电子科技大学 | High slope deformation monitoring method and system |
| CN108205150A (en) * | 2016-12-19 | 2018-06-26 | 千寻位置网络有限公司 | Differential positioning method and system |
| CN106846889A (en) * | 2017-01-23 | 2017-06-13 | 杭州电子科技大学 | A kind of indoor and outdoor parking alignment system and localization method |
| CN106873015A (en) * | 2017-01-23 | 2017-06-20 | 杭州电子科技大学 | Indoor and outdoor seamless positioning system and localization method that CSS is combined with GPS |
| CN107421434A (en) * | 2017-08-08 | 2017-12-01 | 千寻位置网络有限公司 | More base station Multi GNSS Long baselines near real-time deformation monitoring methods |
| CN108317949A (en) * | 2018-02-07 | 2018-07-24 | 桂林电子科技大学 | A kind of RTK high-precision differences positioning deformation monitoring system and method |
| CN108871179A (en) * | 2018-05-07 | 2018-11-23 | 桂林电子科技大学 | Deformation monitoring localization method and device based on the fusion of carrier phase difference transfer static state |
| CN108646266A (en) * | 2018-05-14 | 2018-10-12 | 中铁八局集团昆明铁路建设有限公司 | Construction precisely controlling system and method based on Big Dipper high accuracy positioning |
| 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 |
| CN110068847A (en) * | 2019-04-01 | 2019-07-30 | 和芯星通科技(北京)有限公司 | A kind of method and apparatus that appearance is surveyed in the positioning of GNSS multi-aerial receiver |
| CN110068849A (en) * | 2019-05-06 | 2019-07-30 | 国网山东省电力公司东营供电公司 | Transmission line of electricity multidimensional deformation method of real-time and system based on Differential positioning |
| CN110007328A (en) * | 2019-05-10 | 2019-07-12 | 国网浙江省电力有限公司信息通信分公司 | Non-combined RTK localization method based on four frequency observation of No. three satellites of Beidou |
Non-Patent Citations (3)
| Title |
|---|
| DJAJA KOMARA ET AL: "The Integration of Geography Information System (GIS) and Global Navigation Satelite System-Real Time Kinematic (GNSS-RTK) for Land use Monitoring", 《INTERNATIONAL JOURNAL OF GEOMATE》 * |
| 尚俊娜等: "基于LoRa和GPRS的滑坡监测数据传输系统", 《通讯技术》 * |
| 张波: "GPS滑坡监测中的关键技术研究", 《中国优秀硕士学位论文全文数据库基础科学辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112994845A (en) * | 2021-02-08 | 2021-06-18 | 武汉梦芯科技有限公司 | RTK data transmission method, system and storage medium based on combination of LoRa and LDPC |
| CN113137911A (en) * | 2021-04-25 | 2021-07-20 | 成都理工大学 | Real-time frequency conversion landslide monitoring devices based on RTK |
| CN113809838A (en) * | 2021-08-19 | 2021-12-17 | 中国地质大学（武汉） | Frequency self-tuning double-receiving-end wireless power transmission and communication device for landslide monitoring |
| CN113809838B (en) * | 2021-08-19 | 2023-06-02 | 中国地质大学（武汉） | Frequency self-tuning double-receiving-end wireless power transmission and communication device for landslide monitoring |
| CN113805212A (en) * | 2021-09-26 | 2021-12-17 | 南宁桂电电子科技研究院有限公司 | Self-adaptive GNSS carrier phase differential landslide monitoring method |
| CN113805212B (en) * | 2021-09-26 | 2023-11-07 | 南宁桂电电子科技研究院有限公司 | Self-adaptive GNSS carrier phase differential landslide monitoring method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111610308A (en) | Double-layer landslide monitoring system and method based on RTK technology | |
| CN108981559A (en) | Real-time deformation monitoring method and system based on Beidou ground strengthening system | |
| CN110017765B (en) | Mixed positioning landslide deformation monitoring system | |
| CN108508469A (en) | A kind of electric power tower deformation monitoring system and its monitoring method based on the preposition resolving of the Big Dipper | |
| CN102435165B (en) | CNSS (COMPASS navigation satellite system)-based long-term ground facility deformation monitoring method | |
| CN203786891U (en) | Mobile monitoring convergence platform based on GIS (Geographic Information System) | |
| CN107764231A (en) | A kind of building deformation monitoring system and method based on the enhancing of Big Dipper ground | |
| CN109540095A (en) | Roadbed settlement monitoring method based on satellite navigation and least square | |
| CN111123307B (en) | System and method for detecting dynamic performance of BDS user equipment | |
| CN103398682A (en) | Bridge displacement monitoring system and bridge displacement monitoring method | |
| CN108061572B (en) | Comprehensive situation display and control system and method for marine nuclear power platform | |
| EP3329212B1 (en) | System and method for detecting ground position changes | |
| IL298797A (en) | Generating a geomagnetic map | |
| KR100510835B1 (en) | Method for constituting geographic information system applied digital map using real time measuring systems | |
| CN206959776U (en) | High-rise building safe monitoring system based on big-dipper satellite | |
| CN114463932A (en) | Non-contact construction safety distance active dynamic recognition early warning system and method | |
| Zhang et al. | Integrity monitoring for undifferenced and uncombined PPP under local environmental conditions | |
| CN111913171A (en) | Low-altitude infrared target accurate positioning method and system | |
| CN115240082B (en) | Geological disaster monitoring and early warning method based on deformation monitoring and deep learning | |
| CN113484887A (en) | Power transmission line Beidou high-precision position sensing and ground reinforcing network link mutual assistance method | |
| CN115236715A (en) | Fusion positioning method, fusion positioning device, fusion positioning medium and electronic equipment | |
| Gao et al. | A method for estimating the positioning accuracy of vehicles in urban environments | |
| CN209132933U (en) | A kind of boat-carrying packaged type landslip disaster monitoring device | |
| CN113625241A (en) | Differential settlement monitoring and early warning method | |
| CN201984697U (en) | Comprehensive training platform for satellite positioning technology application and development |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200901 |