CN112013756B - Double-layer baseline slope deformation monitoring method - Google Patents
Double-layer baseline slope deformation monitoring method Download PDFInfo
- Publication number
- CN112013756B CN112013756B CN202010879241.3A CN202010879241A CN112013756B CN 112013756 B CN112013756 B CN 112013756B CN 202010879241 A CN202010879241 A CN 202010879241A CN 112013756 B CN112013756 B CN 112013756B
- Authority
- CN
- China
- Prior art keywords
- monitoring
- base station
- layer
- area
- deformation
- 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.)
- Active
Links
Images
Classifications
-
- 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
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
-
- 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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Landscapes
- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a double-layer baseline slope deformation monitoring method, which comprises the steps of arranging a plurality of monitoring points in a monitoring area, selecting one of the monitoring points to set a micro-area monitoring base station, and establishing a total base station outside the monitoring area; acquiring first observation data of the micro-area monitoring base station and each monitoring point, and calculating the first observation data to obtain a first layer of baseline vectors; the micro-area monitoring base station sends the first layer of baseline vectors to the total base station; acquiring second observation data of the total base station and the micro-area monitoring base station, and calculating the second observation data to obtain a second layer baseline vector; the master base station sending the first layer baseline vector and the second layer baseline vector to a remote server; and the remote server obtains the slope deviation condition through comparison of a deformation monitoring algorithm. The method can avoid the problem of misjudgment caused by the simultaneous deviation of the monitoring base station and the monitoring point in the existing method, and improve the precision of slope deformation monitoring.
Description
Technical Field
The invention relates to the field of satellite navigation application, in particular to a double-layer baseline slope deformation monitoring method, which monitors slope deformation by utilizing a GNSS satellite technology.
Background
At present, the monitoring of the slope by utilizing the GNSS technology is the key point of current research, and deformation judgment is made mainly according to characteristic changes of slope structure displacement by monitoring the deformation of the slope.
The general GNSS slope monitoring technology is that displacement change of millimeter level is monitored by using an RTK technology, when a monitoring system carries out station arrangement, a base line is unchanged due to the fact that a reference station and an observation station are shifted simultaneously, and the system cannot make deformation judgment.
Disclosure of Invention
The embodiment of the invention provides a double-layer baseline slope deformation monitoring method, and aims to solve the problem of misjudgment caused by simultaneous offset of a reference station and an observation station of a GNSS monitoring system.
The invention provides a double-layer baseline slope monitoring method aiming at the problem, the monitoring method enables the monitoring performance to be more stable, and the problem of misjudgment caused by simultaneous offset of a reference station and an observation station of a GNSS monitoring system is solved.
The embodiment of the invention provides a double-layer baseline slope deformation monitoring method, which comprises the following steps:
arranging a plurality of monitoring points in a monitoring area, selecting one of the monitoring points to set a micro-area monitoring base station, and establishing a total base station outside the monitoring area;
acquiring first observation data of the micro-area monitoring base station and each monitoring point, and calculating the first observation data to obtain a first layer of baseline vector;
the micro-area monitoring base station sends the first layer of baseline vectors to the total base station;
acquiring second observation data of the total base station and the micro-area monitoring base station, and calculating the second observation data to obtain a second layer of baseline vectors;
the master base station sending the first layer baseline vector and the second layer baseline vector to a remote server;
the remote server continuously stores the acquired data and records the first data as an initial value;
and the remote server obtains the deviation condition of the side slope through comparison of a deformation monitoring algorithm.
Optionally, in the process of arranging the monitoring area, the first observation data and the second observation data are both GNSS observation data.
Optionally, the step of obtaining the first-layer baseline vector includes:
the micro-area monitoring base station acquires first observation data from each monitoring point, and the micro-area monitoring base station and each monitoring point establish a carrier phase double-difference observation equation to solve the first layer of baseline vectors.
Optionally, the step of obtaining the second layer baseline vector includes:
and establishing a carrier phase double-difference equation for solving second measurement data of the total base station and the micro-area monitoring base station to obtain a second layer baseline vector.
Optionally, after the step of obtaining the slope deviation condition, the remote server performs slope deformation early warning according to the slope deviation condition.
Optionally, the step of operating the deformation monitoring algorithm by the remote server includes:
the remote server compares the received second layer baseline vector to an initial value of the second layer baseline vector,
if the monitoring area changes, the deformation of the monitoring area is indicated, and the server sends out deformation early warning;
if there is no change, then a first level of baseline vector analysis alignment is performed.
Optionally, the deformation monitoring algorithm further includes:
if the monitoring area changes, the deformation of the monitoring area is indicated, and the server sends out deformation early warning;
if there is no change, the monitoring area is not deformed.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention establishes the second-layer base line with the micro-area base station in the monitoring area by setting the total base station outside the monitoring area, and simultaneously monitors the displacement deformation of each monitoring point by utilizing the base line relation between the micro-area base station and the monitoring point, thereby realizing double-layer base line monitoring, avoiding the problem of misjudgment caused by the simultaneous deviation of the monitoring base station and the monitoring point in the prior method, and improving the slope deformation monitoring precision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for monitoring a double-layer baseline measurement slope according to an embodiment of the present invention;
fig. 2 is a vector relationship diagram of a base station, a monitoring point and a satellite according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that, in the present application, the GNSS may also be referred to by other names, such as a Global Navigation Satellite System (Global Navigation Satellite System), a Global Navigation Satellite System (GNSS), and the like, and the present application is not limited thereto. The global navigation satellite system is a space-based radio navigation positioning system that can provide users with all-weather 3-dimensional coordinates and velocity and time information at any location on the earth's surface or in near-earth space.
It should be understood that RTK may also be referred to by other names in this application, such as Real-time kinematic positioning (Real-time kinematic) or Real-time kinematic differencing (RTK), among others.
The embodiment of the invention discloses a double-layer baseline measurement slope monitoring method which is beneficial to avoiding the problem of misjudgment caused by simultaneous deviation of a monitoring base station and a monitoring point in the conventional method and improving the slope deformation monitoring precision.
The details are described below.
Referring to fig. 1, a schematic flow chart of a method for monitoring a double-layer baseline measurement slope according to an embodiment of the present invention is shown. As shown in fig. 1, the double-layer baseline measurement slope monitoring method according to the embodiment of the present invention may include the following steps:
101. and establishing monitoring points, micro-area monitoring base stations and a total base station corresponding to the monitoring area.
Specifically, the monitoring points are arranged in a monitoring area, the number of the monitoring points is multiple, one of the monitoring points is selected to set a micro-area monitoring base station, and a total base station is established outside the monitoring area.
Wherein, the total base station should select the position which is fixed outside the monitoring area and is within the area allowed by the communication distance.
102. A first layer baseline vector is obtained.
Optionally, first observation data of the micro-area monitoring base station and each monitoring point is obtained, and the first observation data is calculated to obtain a first layer of baseline vector.
103. And the micro-area monitoring base station sends the first layer of baseline vectors to the total base station.
Further, the obtained first layer baseline vector is sent to the total base station in real time through a wireless bridge or a wireless module such as an LoRa module.
104. A second tier baseline vector is obtained.
Optionally, second observation data of the total base station and the micro-area monitoring base station is obtained, and the second observation data is calculated to obtain a second layer baseline vector.
105. The master base station sends the first layer baseline vector and the second layer baseline vector to a remote server.
Optionally, the remote server continuously stores the data sent by the total base station, and records the first time data as an initial value.
106. And the remote server acquires the deviation condition of the side slope through comparison of a deformation monitoring algorithm.
Optionally, in the process of arranging the monitoring area, the first observation data and the second observation data are both GNSS observation data.
Further, the baseline vector obtaining step includes:
201. and respectively establishing a carrier phase observation equation for the same satellite by each GNSS monitoring point and the GNSS base station.
The superscript i in formula (1) represents the satellite table number; subscript r denotes the monitoring point, b denotes the base station; phi denotes the carrier phase measurement, lambda denotes the wavelength of the light, r denotes the geometric distance of the satellite to the receiver, I denotes the ionospheric delay, T denotes the tropospheric delay, deltatbRepresenting the receiver clock error, δ t(i)Representing the satellite clock error, N the carrier phase ambiguity, and epsilon the carrier phase error term.
202. And a double-difference carrier phase observation equation is established by the GNSS base station and the GNSS data sent back by each monitoring station.
The superscript j in formula (2) represents the satellite table number; subscript r denotes a monitoring point, b denotes a base station; phi denotes the carrier phase measurement, lambda denotes the wavelength of the light, r denotes the geometric distance of the satellite to the receiver, I denotes the ionospheric delay, T denotes the tropospheric delay, deltatbRepresenting the receiver clock error, δ t(i)Representing the satellite clock error, N the carrier phase ambiguity, and epsilon the carrier phase error term.
203. The relationship between the baseline vector and the double-difference carrier phase measurement value is established as shown in fig. 2, and the formula is as follows:
204. substituting the formula (4) into the double-difference carrier phase observation equation (2) to obtain the measured values of the baseline and the double-difference carrier phase
The relationship of (1):
equation (5) gives the double difference
And a baseline vector bbrIn which the relationship between
Is a known amount, bbrIs the three-dimensional baseline vector to be solved.
205. The monitoring point and the base station can linearly combine two different satellites into a double-difference carrier phase observation value, so that the double-difference equation set is established by selecting the satellites with better and high elevation angles for M (M at least 4) GNSS signals at the same time:
206. selecting satellite number 1 as reference satellite in equation set (6), and solving double-difference ambiguity by using LAMBDA algorithm
Solving equation set (6) to obtain baseline vector bbr。
Further, in the step of the remote server computing the deformation monitoring algorithm:
the remote server compares the received second tier baseline vector to an initial value of the second tier baseline vector,
if the monitoring area changes, the deformation of the monitoring area is indicated, and the server sends out deformation early warning;
if there is no change, then a first level of baseline vector analysis alignment is performed.
Further, the deformation monitoring algorithm further comprises: the remote server compares the first layer baseline vector to an initial value of the first layer baseline vector,
if the monitoring area changes, the deformation of the monitoring area is indicated, the server sends out deformation early warning,
if there is no change, the monitoring area is not deformed.
In the embodiment of the invention, the total base station outside the monitoring area is set, the second-layer base line is established with the micro-area base station in the monitoring area, and the displacement deformation of each monitoring point is monitored by utilizing the base line relation between the micro-area base station and the monitoring point, so that the double-layer base line monitoring is realized, the problem of misjudgment caused by the simultaneous deviation of the monitoring base station and the monitoring point in the existing method is avoided, and the slope deformation monitoring precision is improved.
Although the embodiment of the present invention has been described in detail with reference to the accompanying drawings, it is not intended to limit the scope of the invention to the exact description, and those skilled in the art can easily conceive of various equivalent modifications and substitutions within the scope of the present invention.
Claims (5)
1. A double-layer baseline slope deformation monitoring method is characterized by comprising the following steps:
arranging a plurality of monitoring points in a monitoring area, selecting one of the monitoring points to set a micro-area monitoring base station, and establishing a total base station outside the monitoring area;
acquiring first observation data of the micro-area monitoring base station and each monitoring point, and calculating the first observation data to acquire a first-layer baseline vector;
the micro-area monitoring base station sends the first layer of baseline vectors to the master base station through a wireless bridge or an LoRa wireless module;
acquiring second observation data of the total base station and the micro-area monitoring base station, and calculating the second observation data to obtain a second layer baseline vector;
the master base station sending the first layer baseline vector and the second layer baseline vector to a remote server;
the remote server obtains the deviation condition of the side slope through comparison of a deformation monitoring algorithm;
the step of the remote server for operating the deformation monitoring algorithm comprises the following steps:
the remote server compares the received second layer baseline vector to an initial value of the second layer baseline vector,
if the monitoring area changes, the deformation of the monitoring area is indicated, and the server sends out deformation early warning;
if no change exists, then performing first-layer baseline vector analysis and comparison, namely comparing the first-layer baseline vector with the initial value of the first-layer baseline vector by the remote server;
if the monitoring area changes, the deformation of the monitoring area is indicated, and the server sends out deformation early warning;
if there is no change, the monitoring area is not deformed.
2. The double-layer baseline slope deformation monitoring method according to claim 1, wherein in the process of monitoring area arrangement, the first observation data and the second observation data are both GNSS observation data.
3. The double-layer baseline slope deformation monitoring method of claim 1, wherein the step of obtaining the first-layer baseline vector comprises:
the micro-area monitoring base station acquires first observation data from each monitoring point, and the micro-area monitoring base station and each monitoring point establish a carrier phase double-difference observation equation to solve the first layer of baseline vectors.
4. The double-layer baseline slope deformation monitoring method according to claim 1, wherein the step of obtaining the second-layer baseline vector comprises:
and establishing a carrier phase double-difference observation equation for solving second observation data of the total base station and the micro-area monitoring base station to obtain a second layer baseline vector.
5. The double-layer baseline slope deformation monitoring method according to claim 1, wherein after the step of obtaining the slope deviation condition, the remote server makes a slope deformation early warning according to the slope deviation condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010879241.3A CN112013756B (en) | 2020-08-27 | 2020-08-27 | Double-layer baseline slope deformation monitoring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010879241.3A CN112013756B (en) | 2020-08-27 | 2020-08-27 | Double-layer baseline slope deformation monitoring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112013756A CN112013756A (en) | 2020-12-01 |
| CN112013756B true CN112013756B (en) | 2022-05-17 |
Family
ID=73503703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010879241.3A Active CN112013756B (en) | 2020-08-27 | 2020-08-27 | Double-layer baseline slope deformation monitoring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112013756B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1550241B1 (en) * | 2002-09-23 | 2016-03-23 | Topcon GPS LLC | Position estimation using a network of global-positioning receivers |
| US8626910B1 (en) * | 2012-06-19 | 2014-01-07 | Edgecast Networks, Inc. | Systems and methods for performing localized server-side monitoring in a content delivery network |
| CN106441174B (en) * | 2016-09-09 | 2019-05-28 | 桂林电子科技大学 | A kind of Deformation of Steep Slopes monitoring method and system |
| 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 |
-
2020
- 2020-08-27 CN CN202010879241.3A patent/CN112013756B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| GNSS-RTK技术在超高层建筑物动态变形监测中的应用研究;田力耘;《中国优秀硕士学位论文全文数据库（电子期刊）》;20170331;1-59 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112013756A (en) | 2020-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105068096B (en) | Non- poor correction distributed processing system(DPS) and method based on reference station receiver | |
| CN108828626B (en) | Network RTK ionosphere delay interpolation method and system based on real-time grid | |
| US7257412B2 (en) | Methods and systems for location estimation | |
| US7642956B2 (en) | System and method for monitoring and surveying movements of the terrain, large infrastructures and civil building works in general, based upon the signals transmitted by the GPS navigation satellite system | |
| CN108195283B (en) | GNSS real-time deformation monitoring method and system based on seamless transformation | |
| US11460583B2 (en) | Method and apparatus for providing correction data for satellite navigation | |
| CN114152185B (en) | GNSS deformation monitoring system and working method thereof | |
| CN107071893B (en) | Cellular network RTK positioning method and system | |
| CN111273687A (en) | Multi-unmanned aerial vehicle collaborative relative navigation method based on GNSS observed quantity and inter-aircraft distance measurement | |
| CN109975849B (en) | Baseline vector determination method, server and computer storage medium | |
| CN108535746B (en) | Method for detecting GNSS satellite orbit maneuver | |
| Tang et al. | 1 Hz GPS satellites clock correction estimations to support high-rate dynamic PPP GPS applied on the Severn suspension bridge for deflection detection | |
| CN112902825A (en) | Beidou/GNSS network RTK algorithm suitable for high-precision deformation monitoring | |
| CN110488332B (en) | Positioning information processing method and device based on network RTK technology | |
| CN112146557A (en) | GNSS-based real-time bridge deformation monitoring system and method | |
| CN116125514A (en) | Ground disaster monitoring method, device, terminal and medium based on Beidou PPP-RTK virtual observation value | |
| CN114895330A (en) | Single-station displacement monitoring method, equipment and storage medium based on broadcast ephemeris | |
| CN115933356A (en) | High-precision time synchronization system and method of virtual atomic clock | |
| CN112013756B (en) | Double-layer baseline slope deformation monitoring method | |
| CN112198540B (en) | Multimode multi-frequency carrier phase positioning method based on dynamic network base station | |
| Liu et al. | Performance of real-time undifferenced precise positioning assisted by remote IGS multi-GNSS stations | |
| Tarig | Positioning with wide-area GNSS networks: Concept and application | |
| CN112731268B (en) | Differential data processing method and positioning tracking system | |
| CN115993614A (en) | Time transmission method for weakening deviation in Beidou system | |
| Berber et al. | Rapid static GNSS data processing using online services |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20201201 Assignee: Guangxi Yunyi Technology Co.,Ltd. Assignor: GUILIN University OF ELECTRONIC TECHNOLOGY Contract record no.: X2022450000519 Denomination of invention: A double baseline method for slope deformation monitoring Granted publication date: 20220517 License type: Common License Record date: 20221229 |
|
| EE01 | Entry into force of recordation of patent licensing contract |